| 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 March 13th, 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 SERIAL_DEBUG
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| 31 | #include "utility/firmataDebug.h"
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| 32 |
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| 33 | /*
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| 34 | * Uncomment the following include to enable interfacing
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| 35 | * with Serial devices via hardware or software serial.
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| 36 | */
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| 37 | //#include "utility/SerialFirmata.h"
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| 38 |
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| 39 | // follow the instructions in bleConfig.h to configure your BLE hardware
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| 40 | #include "bleConfig.h"
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| 41 |
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| 42 | #define I2C_WRITE 0x00 //B00000000
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| 43 | #define I2C_READ 0x08 //B00001000
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| 44 | #define I2C_READ_CONTINUOUSLY 0x10 //B00010000
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| 45 | #define I2C_STOP_READING 0x18 //B00011000
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| 46 | #define I2C_READ_WRITE_MODE_MASK 0x18 //B00011000
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| 47 | #define I2C_10BIT_ADDRESS_MODE_MASK 0x20 //B00100000
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| 48 | #define I2C_END_TX_MASK 0x40 //B01000000
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| 49 | #define I2C_STOP_TX 1
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| 50 | #define I2C_RESTART_TX 0
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| 51 | #define I2C_MAX_QUERIES 8
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| 52 | #define I2C_REGISTER_NOT_SPECIFIED -1
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| 53 |
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| 54 | // the minimum interval for sampling analog input
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| 55 | #define MINIMUM_SAMPLING_INTERVAL 1
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| 56 |
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| 57 | // min cannot be < 0x0006. Adjust max if necessary
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| 58 | #define FIRMATA_BLE_MIN_INTERVAL 0x0006 // 7.5ms (7.5 / 1.25)
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| 59 | #define FIRMATA_BLE_MAX_INTERVAL 0x0018 // 30ms (30 / 1.25)
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| 60 |
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| 61 | /*==============================================================================
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| 62 | * GLOBAL VARIABLES
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| 63 | *============================================================================*/
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| 64 |
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| 65 | #ifdef FIRMATA_SERIAL_FEATURE
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| 66 | SerialFirmata serialFeature;
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| 67 | #endif
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| 68 |
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| 69 | /* analog inputs */
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| 70 | int analogInputsToReport = 0; // bitwise array to store pin reporting
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| 71 |
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| 72 | /* digital input ports */
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| 73 | byte reportPINs[TOTAL_PORTS]; // 1 = report this port, 0 = silence
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| 74 | byte previousPINs[TOTAL_PORTS]; // previous 8 bits sent
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| 75 |
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| 76 | /* pins configuration */
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| 77 | byte portConfigInputs[TOTAL_PORTS]; // each bit: 1 = pin in INPUT, 0 = anything else
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| 78 |
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| 79 | /* timer variables */
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| 80 | unsigned long currentMillis; // store the current value from millis()
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| 81 | unsigned long previousMillis; // for comparison with currentMillis
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| 82 | unsigned int samplingInterval = 19; // how often to run the main loop (in ms)
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| 83 |
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| 84 | /* i2c data */
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| 85 | struct i2c_device_info {
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| 86 | byte addr;
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| 87 | int reg;
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| 88 | byte bytes;
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| 89 | byte stopTX;
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| 90 | };
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| 91 |
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| 92 | /* for i2c read continuous more */
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| 93 | i2c_device_info query[I2C_MAX_QUERIES];
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| 94 |
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| 95 | byte i2cRxData[64];
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| 96 | boolean isI2CEnabled = false;
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| 97 | signed char queryIndex = -1;
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| 98 | // default delay time between i2c read request and Wire.requestFrom()
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| 99 | unsigned int i2cReadDelayTime = 0;
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| 100 |
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| 101 | Servo servos[MAX_SERVOS];
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| 102 | byte servoPinMap[TOTAL_PINS];
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| 103 | byte detachedServos[MAX_SERVOS];
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| 104 | byte detachedServoCount = 0;
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| 105 | byte servoCount = 0;
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| 106 |
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| 107 | boolean isResetting = false;
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| 108 |
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| 109 | /* utility functions */
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| 110 | void wireWrite(byte data)
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| 111 | {
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| 112 | #if ARDUINO >= 100
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| 113 | Wire.write((byte)data);
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| 114 | #else
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| 115 | Wire.send(data);
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| 116 | #endif
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| 117 | }
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| 118 |
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| 119 | byte wireRead(void)
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| 120 | {
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| 121 | #if ARDUINO >= 100
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| 122 | return Wire.read();
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| 123 | #else
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| 124 | return Wire.receive();
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| 125 | #endif
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| 126 | }
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| 127 |
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| 128 | /*==============================================================================
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| 129 | * FUNCTIONS
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| 130 | *============================================================================*/
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| 131 |
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| 132 | void attachServo(byte pin, int minPulse, int maxPulse)
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| 133 | {
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| 134 | if (servoCount < MAX_SERVOS) {
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| 135 | // reuse indexes of detached servos until all have been reallocated
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| 136 | if (detachedServoCount > 0) {
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| 137 | servoPinMap[pin] = detachedServos[detachedServoCount - 1];
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| 138 | if (detachedServoCount > 0) detachedServoCount--;
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| 139 | } else {
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| 140 | servoPinMap[pin] = servoCount;
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| 141 | servoCount++;
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| 142 | }
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| 143 | if (minPulse > 0 && maxPulse > 0) {
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| 144 | servos[servoPinMap[pin]].attach(PIN_TO_DIGITAL(pin), minPulse, maxPulse);
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| 145 | } else {
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| 146 | servos[servoPinMap[pin]].attach(PIN_TO_DIGITAL(pin));
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| 147 | }
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| 148 | } else {
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| 149 | Firmata.sendString("Max servos attached");
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| 150 | }
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| 151 | }
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| 152 |
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| 153 | void detachServo(byte pin)
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| 154 | {
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| 155 | servos[servoPinMap[pin]].detach();
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| 156 | // if we're detaching the last servo, decrement the count
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| 157 | // otherwise store the index of the detached servo
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| 158 | if (servoPinMap[pin] == servoCount && servoCount > 0) {
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| 159 | servoCount--;
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| 160 | } else if (servoCount > 0) {
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| 161 | // keep track of detached servos because we want to reuse their indexes
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| 162 | // before incrementing the count of attached servos
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| 163 | detachedServoCount++;
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| 164 | detachedServos[detachedServoCount - 1] = servoPinMap[pin];
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| 165 | }
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| 166 |
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| 167 | servoPinMap[pin] = 255;
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| 168 | }
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| 169 |
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| 170 | void readAndReportData(byte address, int theRegister, byte numBytes, byte stopTX) {
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| 171 | // allow I2C requests that don't require a register read
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| 172 | // for example, some devices using an interrupt pin to signify new data available
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| 173 | // do not always require the register read so upon interrupt you call Wire.requestFrom()
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| 174 | if (theRegister != I2C_REGISTER_NOT_SPECIFIED) {
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| 175 | Wire.beginTransmission(address);
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| 176 | wireWrite((byte)theRegister);
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| 177 | Wire.endTransmission(stopTX); // default = true
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| 178 | // do not set a value of 0
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| 179 | if (i2cReadDelayTime > 0) {
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| 180 | // delay is necessary for some devices such as WiiNunchuck
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| 181 | delayMicroseconds(i2cReadDelayTime);
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| 182 | }
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| 183 | } else {
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| 184 | theRegister = 0; // fill the register with a dummy value
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| 185 | }
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| 186 |
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| 187 | Wire.requestFrom(address, numBytes); // all bytes are returned in requestFrom
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| 188 |
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| 189 | // check to be sure correct number of bytes were returned by slave
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| 190 | if (numBytes < Wire.available()) {
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| 191 | Firmata.sendString("I2C: Too many bytes received");
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| 192 | } else if (numBytes > Wire.available()) {
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| 193 | Firmata.sendString("I2C: Too few bytes received");
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| 194 | }
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| 195 |
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| 196 | i2cRxData[0] = address;
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| 197 | i2cRxData[1] = theRegister;
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| 198 |
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| 199 | for (int i = 0; i < numBytes && Wire.available(); i++) {
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| 200 | i2cRxData[2 + i] = wireRead();
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| 201 | }
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| 202 |
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| 203 | // send slave address, register and received bytes
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| 204 | Firmata.sendSysex(SYSEX_I2C_REPLY, numBytes + 2, i2cRxData);
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| 205 | }
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| 206 |
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| 207 | void outputPort(byte portNumber, byte portValue, byte forceSend)
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| 208 | {
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| 209 | // pins not configured as INPUT are cleared to zeros
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| 210 | portValue = portValue & portConfigInputs[portNumber];
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| 211 | // only send if the value is different than previously sent
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| 212 | if (forceSend || previousPINs[portNumber] != portValue) {
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| 213 | Firmata.sendDigitalPort(portNumber, portValue);
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| 214 | previousPINs[portNumber] = portValue;
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| 215 | }
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| 216 | }
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| 217 |
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| 218 | /* -----------------------------------------------------------------------------
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| 219 | * check all the active digital inputs for change of state, then add any events
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| 220 | * to the Serial output queue using Serial.print() */
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| 221 | void checkDigitalInputs(void)
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| 222 | {
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| 223 | /* Using non-looping code allows constants to be given to readPort().
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| 224 | * The compiler will apply substantial optimizations if the inputs
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| 225 | * to readPort() are compile-time constants. */
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| 226 | if (TOTAL_PORTS > 0 && reportPINs[0]) outputPort(0, readPort(0, portConfigInputs[0]), false);
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| 227 | if (TOTAL_PORTS > 1 && reportPINs[1]) outputPort(1, readPort(1, portConfigInputs[1]), false);
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| 228 | if (TOTAL_PORTS > 2 && reportPINs[2]) outputPort(2, readPort(2, portConfigInputs[2]), false);
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| 229 | if (TOTAL_PORTS > 3 && reportPINs[3]) outputPort(3, readPort(3, portConfigInputs[3]), false);
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| 230 | if (TOTAL_PORTS > 4 && reportPINs[4]) outputPort(4, readPort(4, portConfigInputs[4]), false);
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| 231 | if (TOTAL_PORTS > 5 && reportPINs[5]) outputPort(5, readPort(5, portConfigInputs[5]), false);
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| 232 | if (TOTAL_PORTS > 6 && reportPINs[6]) outputPort(6, readPort(6, portConfigInputs[6]), false);
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| 233 | if (TOTAL_PORTS > 7 && reportPINs[7]) outputPort(7, readPort(7, portConfigInputs[7]), false);
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| 234 | if (TOTAL_PORTS > 8 && reportPINs[8]) outputPort(8, readPort(8, portConfigInputs[8]), false);
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| 235 | if (TOTAL_PORTS > 9 && reportPINs[9]) outputPort(9, readPort(9, portConfigInputs[9]), false);
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| 236 | if (TOTAL_PORTS > 10 && reportPINs[10]) outputPort(10, readPort(10, portConfigInputs[10]), false);
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| 237 | if (TOTAL_PORTS > 11 && reportPINs[11]) outputPort(11, readPort(11, portConfigInputs[11]), false);
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| 238 | if (TOTAL_PORTS > 12 && reportPINs[12]) outputPort(12, readPort(12, portConfigInputs[12]), false);
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| 239 | if (TOTAL_PORTS > 13 && reportPINs[13]) outputPort(13, readPort(13, portConfigInputs[13]), false);
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| 240 | if (TOTAL_PORTS > 14 && reportPINs[14]) outputPort(14, readPort(14, portConfigInputs[14]), false);
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| 241 | if (TOTAL_PORTS > 15 && reportPINs[15]) outputPort(15, readPort(15, portConfigInputs[15]), false);
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| 242 | }
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| 243 |
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| 244 | // -----------------------------------------------------------------------------
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| 245 | /* disable the i2c pins so they can be used for other functions */
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| 246 | void disableI2CPins() {
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| 247 | isI2CEnabled = false;
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| 248 | // disable read continuous mode for all devices
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| 249 | queryIndex = -1;
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| 250 | }
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| 251 |
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| 252 | /* sets bits in a bit array (int) to toggle the reporting of the analogIns
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| 253 | */
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| 254 | //void FirmataClass::setAnalogPinReporting(byte pin, byte state) {
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| 255 | //}
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| 256 | void reportAnalogCallback(byte analogPin, int value)
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| 257 | {
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| 258 | if (analogPin < TOTAL_ANALOG_PINS) {
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| 259 | if (value == 0) {
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| 260 | analogInputsToReport = analogInputsToReport & ~ (1 << analogPin);
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| 261 | } else {
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| 262 | analogInputsToReport = analogInputsToReport | (1 << analogPin);
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| 263 | // prevent during system reset or all analog pin values will be reported
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| 264 | // which may report noise for unconnected analog pins
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| 265 | if (!isResetting) {
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| 266 | // Send pin value immediately. This is helpful when connected via
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| 267 | // ethernet, wi-fi or bluetooth so pin states can be known upon
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| 268 | // reconnecting.
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| 269 | Firmata.sendAnalog(analogPin, analogRead(analogPin));
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| 270 | }
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| 271 | }
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| 272 | }
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| 273 | // TODO: save status to EEPROM here, if changed
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| 274 | }
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| 275 |
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| 276 | // -----------------------------------------------------------------------------
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| 277 | /* sets the pin mode to the correct state and sets the relevant bits in the
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| 278 | * two bit-arrays that track Digital I/O and PWM status
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| 279 | */
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| 280 | void setPinModeCallback(byte pin, int mode)
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| 281 | {
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| 282 | if (Firmata.getPinMode(pin) == PIN_MODE_IGNORE)
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| 283 | return;
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| 284 |
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| 285 | if (Firmata.getPinMode(pin) == PIN_MODE_I2C && isI2CEnabled && mode != PIN_MODE_I2C) {
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| 286 | // disable i2c so pins can be used for other functions
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| 287 | // the following if statements should reconfigure the pins properly
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| 288 | disableI2CPins();
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| 289 | }
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| 290 | if (IS_PIN_DIGITAL(pin) && mode != PIN_MODE_SERVO) {
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| 291 | if (servoPinMap[pin] < MAX_SERVOS && servos[servoPinMap[pin]].attached()) {
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| 292 | detachServo(pin);
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| 293 | }
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| 294 | }
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| 295 | if (IS_PIN_ANALOG(pin)) {
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| 296 | reportAnalogCallback(PIN_TO_ANALOG(pin), mode == PIN_MODE_ANALOG ? 1 : 0); // turn on/off reporting
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| 297 | }
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| 298 | if (IS_PIN_DIGITAL(pin)) {
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| 299 | if (mode == INPUT || mode == PIN_MODE_PULLUP) {
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| 300 | portConfigInputs[pin / 8] |= (1 << (pin & 7));
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| 301 | } else {
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| 302 | portConfigInputs[pin / 8] &= ~(1 << (pin & 7));
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| 303 | }
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| 304 | }
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| 305 | Firmata.setPinState(pin, 0);
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| 306 | switch (mode) {
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| 307 | case PIN_MODE_ANALOG:
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| 308 | if (IS_PIN_ANALOG(pin)) {
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| 309 | if (IS_PIN_DIGITAL(pin)) {
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| 310 | pinMode(PIN_TO_DIGITAL(pin), INPUT); // disable output driver
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| 311 | #if ARDUINO <= 100
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| 312 | // deprecated since Arduino 1.0.1 - TODO: drop support in Firmata 2.6
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| 313 | digitalWrite(PIN_TO_DIGITAL(pin), LOW); // disable internal pull-ups
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| 314 | #endif
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| 315 | }
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| 316 | Firmata.setPinMode(pin, PIN_MODE_ANALOG);
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| 317 | }
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| 318 | break;
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| 319 | case INPUT:
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| 320 | if (IS_PIN_DIGITAL(pin)) {
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| 321 | pinMode(PIN_TO_DIGITAL(pin), INPUT); // disable output driver
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| 322 | #if ARDUINO <= 100
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| 323 | // deprecated since Arduino 1.0.1 - TODO: drop support in Firmata 2.6
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| 324 | digitalWrite(PIN_TO_DIGITAL(pin), LOW); // disable internal pull-ups
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| 325 | #endif
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| 326 | Firmata.setPinMode(pin, INPUT);
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| 327 | }
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| 328 | break;
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| 329 | case PIN_MODE_PULLUP:
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| 330 | if (IS_PIN_DIGITAL(pin)) {
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| 331 | pinMode(PIN_TO_DIGITAL(pin), INPUT_PULLUP);
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| 332 | Firmata.setPinMode(pin, PIN_MODE_PULLUP);
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| 333 | Firmata.setPinState(pin, 1);
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| 334 | }
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| 335 | break;
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| 336 | case OUTPUT:
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| 337 | if (IS_PIN_DIGITAL(pin)) {
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| 338 | digitalWrite(PIN_TO_DIGITAL(pin), LOW); // disable PWM
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| 339 | pinMode(PIN_TO_DIGITAL(pin), OUTPUT);
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| 340 | Firmata.setPinMode(pin, OUTPUT);
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| 341 | }
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| 342 | break;
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| 343 | case PIN_MODE_PWM:
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| 344 | if (IS_PIN_PWM(pin)) {
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| 345 | pinMode(PIN_TO_PWM(pin), OUTPUT);
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| 346 | analogWrite(PIN_TO_PWM(pin), 0);
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| 347 | Firmata.setPinMode(pin, PIN_MODE_PWM);
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| 348 | }
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| 349 | break;
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| 350 | case PIN_MODE_SERVO:
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| 351 | if (IS_PIN_DIGITAL(pin)) {
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| 352 | Firmata.setPinMode(pin, PIN_MODE_SERVO);
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| 353 | if (servoPinMap[pin] == 255 || !servos[servoPinMap[pin]].attached()) {
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| 354 | // pass -1 for min and max pulse values to use default values set
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| 355 | // by Servo library
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| 356 | attachServo(pin, -1, -1);
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| 357 | }
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| 358 | }
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| 359 | break;
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| 360 | case PIN_MODE_I2C:
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| 361 | if (IS_PIN_I2C(pin)) {
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| 362 | // mark the pin as i2c
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| 363 | // the user must call I2C_CONFIG to enable I2C for a device
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| 364 | Firmata.setPinMode(pin, PIN_MODE_I2C);
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| 365 | }
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| 366 | break;
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| 367 | case PIN_MODE_SERIAL:
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| 368 | #ifdef FIRMATA_SERIAL_FEATURE
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| 369 | serialFeature.handlePinMode(pin, PIN_MODE_SERIAL);
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| 370 | #endif
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| 371 | break;
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| 372 | default:
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| 373 | Firmata.sendString("Unknown pin mode"); // TODO: put error msgs in EEPROM
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| 374 | }
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|---|
| 375 | // TODO: save status to EEPROM here, if changed
|
|---|
| 376 | }
|
|---|
| 377 |
|
|---|
| 378 | /*
|
|---|
| 379 | * Sets the value of an individual pin. Useful if you want to set a pin value but
|
|---|
| 380 | * are not tracking the digital port state.
|
|---|
| 381 | * Can only be used on pins configured as OUTPUT.
|
|---|
| 382 | * Cannot be used to enable pull-ups on Digital INPUT pins.
|
|---|
| 383 | */
|
|---|
| 384 | void setPinValueCallback(byte pin, int value)
|
|---|
| 385 | {
|
|---|
| 386 | if (pin < TOTAL_PINS && IS_PIN_DIGITAL(pin)) {
|
|---|
| 387 | if (Firmata.getPinMode(pin) == OUTPUT) {
|
|---|
| 388 | Firmata.setPinState(pin, value);
|
|---|
| 389 | digitalWrite(PIN_TO_DIGITAL(pin), value);
|
|---|
| 390 | }
|
|---|
| 391 | }
|
|---|
| 392 | }
|
|---|
| 393 |
|
|---|
| 394 | void analogWriteCallback(byte pin, int value)
|
|---|
| 395 | {
|
|---|
| 396 | if (pin < TOTAL_PINS) {
|
|---|
| 397 | switch (Firmata.getPinMode(pin)) {
|
|---|
| 398 | case PIN_MODE_SERVO:
|
|---|
| 399 | if (IS_PIN_DIGITAL(pin))
|
|---|
| 400 | servos[servoPinMap[pin]].write(value);
|
|---|
| 401 | Firmata.setPinState(pin, value);
|
|---|
| 402 | break;
|
|---|
| 403 | case PIN_MODE_PWM:
|
|---|
| 404 | if (IS_PIN_PWM(pin))
|
|---|
| 405 | analogWrite(PIN_TO_PWM(pin), value);
|
|---|
| 406 | Firmata.setPinState(pin, value);
|
|---|
| 407 | break;
|
|---|
| 408 | }
|
|---|
| 409 | }
|
|---|
| 410 | }
|
|---|
| 411 |
|
|---|
| 412 | void digitalWriteCallback(byte port, int value)
|
|---|
| 413 | {
|
|---|
| 414 | byte pin, lastPin, pinValue, mask = 1, pinWriteMask = 0;
|
|---|
| 415 |
|
|---|
| 416 | if (port < TOTAL_PORTS) {
|
|---|
| 417 | // create a mask of the pins on this port that are writable.
|
|---|
| 418 | lastPin = port * 8 + 8;
|
|---|
| 419 | if (lastPin > TOTAL_PINS) lastPin = TOTAL_PINS;
|
|---|
| 420 | for (pin = port * 8; pin < lastPin; pin++) {
|
|---|
| 421 | // do not disturb non-digital pins (eg, Rx & Tx)
|
|---|
| 422 | if (IS_PIN_DIGITAL(pin)) {
|
|---|
| 423 | // do not touch pins in PWM, ANALOG, SERVO or other modes
|
|---|
| 424 | if (Firmata.getPinMode(pin) == OUTPUT || Firmata.getPinMode(pin) == INPUT) {
|
|---|
| 425 | pinValue = ((byte)value & mask) ? 1 : 0;
|
|---|
| 426 | if (Firmata.getPinMode(pin) == OUTPUT) {
|
|---|
| 427 | pinWriteMask |= mask;
|
|---|
| 428 | } else if (Firmata.getPinMode(pin) == INPUT && pinValue == 1 && Firmata.getPinState(pin) != 1) {
|
|---|
| 429 | // only handle INPUT here for backwards compatibility
|
|---|
| 430 | #if ARDUINO > 100
|
|---|
| 431 | pinMode(pin, INPUT_PULLUP);
|
|---|
| 432 | #else
|
|---|
| 433 | // only write to the INPUT pin to enable pullups if Arduino v1.0.0 or earlier
|
|---|
| 434 | pinWriteMask |= mask;
|
|---|
| 435 | #endif
|
|---|
| 436 | }
|
|---|
| 437 | Firmata.setPinState(pin, pinValue);
|
|---|
| 438 | }
|
|---|
| 439 | }
|
|---|
| 440 | mask = mask << 1;
|
|---|
| 441 | }
|
|---|
| 442 | writePort(port, (byte)value, pinWriteMask);
|
|---|
| 443 | }
|
|---|
| 444 | }
|
|---|
| 445 |
|
|---|
| 446 |
|
|---|
| 447 | // -----------------------------------------------------------------------------
|
|---|
| 448 |
|
|---|
| 449 | void reportDigitalCallback(byte port, int value)
|
|---|
| 450 | {
|
|---|
| 451 | if (port < TOTAL_PORTS) {
|
|---|
| 452 | reportPINs[port] = (byte)value;
|
|---|
| 453 | // Send port value immediately. This is helpful when connected via
|
|---|
| 454 | // ethernet, wi-fi or bluetooth so pin states can be known upon
|
|---|
| 455 | // reconnecting.
|
|---|
| 456 | if (value) outputPort(port, readPort(port, portConfigInputs[port]), true);
|
|---|
| 457 | }
|
|---|
| 458 | // do not disable analog reporting on these 8 pins, to allow some
|
|---|
| 459 | // pins used for digital, others analog. Instead, allow both types
|
|---|
| 460 | // of reporting to be enabled, but check if the pin is configured
|
|---|
| 461 | // as analog when sampling the analog inputs. Likewise, while
|
|---|
| 462 | // scanning digital pins, portConfigInputs will mask off values from any
|
|---|
| 463 | // pins configured as analog
|
|---|
| 464 | }
|
|---|
| 465 |
|
|---|
| 466 | // -----------------------------------------------------------------------------
|
|---|
| 467 |
|
|---|
| 468 | void enableI2CPins()
|
|---|
| 469 | {
|
|---|
| 470 | byte i;
|
|---|
| 471 | // is there a faster way to do this? would probaby require importing
|
|---|
| 472 | // Arduino.h to get SCL and SDA pins
|
|---|
| 473 | for (i = 0; i < TOTAL_PINS; i++) {
|
|---|
| 474 | if (IS_PIN_I2C(i)) {
|
|---|
| 475 | // mark pins as i2c so they are ignore in non i2c data requests
|
|---|
| 476 | setPinModeCallback(i, PIN_MODE_I2C);
|
|---|
| 477 | }
|
|---|
| 478 | }
|
|---|
| 479 |
|
|---|
| 480 | isI2CEnabled = true;
|
|---|
| 481 |
|
|---|
| 482 | Wire.begin();
|
|---|
| 483 | }
|
|---|
| 484 |
|
|---|
| 485 | /*==============================================================================
|
|---|
| 486 | * SYSEX-BASED commands
|
|---|
| 487 | *============================================================================*/
|
|---|
| 488 |
|
|---|
| 489 | void sysexCallback(byte command, byte argc, byte *argv)
|
|---|
| 490 | {
|
|---|
| 491 | byte mode;
|
|---|
| 492 | byte stopTX;
|
|---|
| 493 | byte slaveAddress;
|
|---|
| 494 | byte data;
|
|---|
| 495 | int slaveRegister;
|
|---|
| 496 | unsigned int delayTime;
|
|---|
| 497 |
|
|---|
| 498 | switch (command) {
|
|---|
| 499 | case I2C_REQUEST:
|
|---|
| 500 | mode = argv[1] & I2C_READ_WRITE_MODE_MASK;
|
|---|
| 501 | if (argv[1] & I2C_10BIT_ADDRESS_MODE_MASK) {
|
|---|
| 502 | Firmata.sendString("10-bit addressing not supported");
|
|---|
| 503 | return;
|
|---|
| 504 | }
|
|---|
| 505 | else {
|
|---|
| 506 | slaveAddress = argv[0];
|
|---|
| 507 | }
|
|---|
| 508 |
|
|---|
| 509 | // need to invert the logic here since 0 will be default for client
|
|---|
| 510 | // libraries that have not updated to add support for restart tx
|
|---|
| 511 | if (argv[1] & I2C_END_TX_MASK) {
|
|---|
| 512 | stopTX = I2C_RESTART_TX;
|
|---|
| 513 | }
|
|---|
| 514 | else {
|
|---|
| 515 | stopTX = I2C_STOP_TX; // default
|
|---|
| 516 | }
|
|---|
| 517 |
|
|---|
| 518 | switch (mode) {
|
|---|
| 519 | case I2C_WRITE:
|
|---|
| 520 | Wire.beginTransmission(slaveAddress);
|
|---|
| 521 | for (byte i = 2; i < argc; i += 2) {
|
|---|
| 522 | data = argv[i] + (argv[i + 1] << 7);
|
|---|
| 523 | wireWrite(data);
|
|---|
| 524 | }
|
|---|
| 525 | Wire.endTransmission();
|
|---|
| 526 | delayMicroseconds(70);
|
|---|
| 527 | break;
|
|---|
| 528 | case I2C_READ:
|
|---|
| 529 | if (argc == 6) {
|
|---|
| 530 | // a slave register is specified
|
|---|
| 531 | slaveRegister = argv[2] + (argv[3] << 7);
|
|---|
| 532 | data = argv[4] + (argv[5] << 7); // bytes to read
|
|---|
| 533 | }
|
|---|
| 534 | else {
|
|---|
| 535 | // a slave register is NOT specified
|
|---|
| 536 | slaveRegister = I2C_REGISTER_NOT_SPECIFIED;
|
|---|
| 537 | data = argv[2] + (argv[3] << 7); // bytes to read
|
|---|
| 538 | }
|
|---|
| 539 | readAndReportData(slaveAddress, (int)slaveRegister, data, stopTX);
|
|---|
| 540 | break;
|
|---|
| 541 | case I2C_READ_CONTINUOUSLY:
|
|---|
| 542 | if ((queryIndex + 1) >= I2C_MAX_QUERIES) {
|
|---|
| 543 | // too many queries, just ignore
|
|---|
| 544 | Firmata.sendString("too many queries");
|
|---|
| 545 | break;
|
|---|
| 546 | }
|
|---|
| 547 | if (argc == 6) {
|
|---|
| 548 | // a slave register is specified
|
|---|
| 549 | slaveRegister = argv[2] + (argv[3] << 7);
|
|---|
| 550 | data = argv[4] + (argv[5] << 7); // bytes to read
|
|---|
| 551 | }
|
|---|
| 552 | else {
|
|---|
| 553 | // a slave register is NOT specified
|
|---|
| 554 | slaveRegister = (int)I2C_REGISTER_NOT_SPECIFIED;
|
|---|
| 555 | data = argv[2] + (argv[3] << 7); // bytes to read
|
|---|
| 556 | }
|
|---|
| 557 | queryIndex++;
|
|---|
| 558 | query[queryIndex].addr = slaveAddress;
|
|---|
| 559 | query[queryIndex].reg = slaveRegister;
|
|---|
| 560 | query[queryIndex].bytes = data;
|
|---|
| 561 | query[queryIndex].stopTX = stopTX;
|
|---|
| 562 | break;
|
|---|
| 563 | case I2C_STOP_READING:
|
|---|
| 564 | byte queryIndexToSkip;
|
|---|
| 565 | // if read continuous mode is enabled for only 1 i2c device, disable
|
|---|
| 566 | // read continuous reporting for that device
|
|---|
| 567 | if (queryIndex <= 0) {
|
|---|
| 568 | queryIndex = -1;
|
|---|
| 569 | } else {
|
|---|
| 570 | queryIndexToSkip = 0;
|
|---|
| 571 | // if read continuous mode is enabled for multiple devices,
|
|---|
| 572 | // determine which device to stop reading and remove it's data from
|
|---|
| 573 | // the array, shifiting other array data to fill the space
|
|---|
| 574 | for (byte i = 0; i < queryIndex + 1; i++) {
|
|---|
| 575 | if (query[i].addr == slaveAddress) {
|
|---|
| 576 | queryIndexToSkip = i;
|
|---|
| 577 | break;
|
|---|
| 578 | }
|
|---|
| 579 | }
|
|---|
| 580 |
|
|---|
| 581 | for (byte i = queryIndexToSkip; i < queryIndex + 1; i++) {
|
|---|
| 582 | if (i < I2C_MAX_QUERIES) {
|
|---|
| 583 | query[i].addr = query[i + 1].addr;
|
|---|
| 584 | query[i].reg = query[i + 1].reg;
|
|---|
| 585 | query[i].bytes = query[i + 1].bytes;
|
|---|
| 586 | query[i].stopTX = query[i + 1].stopTX;
|
|---|
| 587 | }
|
|---|
| 588 | }
|
|---|
| 589 | queryIndex--;
|
|---|
| 590 | }
|
|---|
| 591 | break;
|
|---|
| 592 | default:
|
|---|
| 593 | break;
|
|---|
| 594 | }
|
|---|
| 595 | break;
|
|---|
| 596 | case I2C_CONFIG:
|
|---|
| 597 | delayTime = (argv[0] + (argv[1] << 7));
|
|---|
| 598 |
|
|---|
| 599 | if (delayTime > 0) {
|
|---|
| 600 | i2cReadDelayTime = delayTime;
|
|---|
| 601 | }
|
|---|
| 602 |
|
|---|
| 603 | if (!isI2CEnabled) {
|
|---|
| 604 | enableI2CPins();
|
|---|
| 605 | }
|
|---|
| 606 |
|
|---|
| 607 | break;
|
|---|
| 608 | case SERVO_CONFIG:
|
|---|
| 609 | if (argc > 4) {
|
|---|
| 610 | // these vars are here for clarity, they'll optimized away by the compiler
|
|---|
| 611 | byte pin = argv[0];
|
|---|
| 612 | int minPulse = argv[1] + (argv[2] << 7);
|
|---|
| 613 | int maxPulse = argv[3] + (argv[4] << 7);
|
|---|
| 614 |
|
|---|
| 615 | if (IS_PIN_DIGITAL(pin)) {
|
|---|
| 616 | if (servoPinMap[pin] < MAX_SERVOS && servos[servoPinMap[pin]].attached()) {
|
|---|
| 617 | detachServo(pin);
|
|---|
| 618 | }
|
|---|
| 619 | attachServo(pin, minPulse, maxPulse);
|
|---|
| 620 | setPinModeCallback(pin, PIN_MODE_SERVO);
|
|---|
| 621 | }
|
|---|
| 622 | }
|
|---|
| 623 | break;
|
|---|
| 624 | case SAMPLING_INTERVAL:
|
|---|
| 625 | if (argc > 1) {
|
|---|
| 626 | samplingInterval = argv[0] + (argv[1] << 7);
|
|---|
| 627 | if (samplingInterval < MINIMUM_SAMPLING_INTERVAL) {
|
|---|
| 628 | samplingInterval = MINIMUM_SAMPLING_INTERVAL;
|
|---|
| 629 | }
|
|---|
| 630 | } else {
|
|---|
| 631 | //Firmata.sendString("Not enough data");
|
|---|
| 632 | }
|
|---|
| 633 | break;
|
|---|
| 634 | case EXTENDED_ANALOG:
|
|---|
| 635 | if (argc > 1) {
|
|---|
| 636 | int val = argv[1];
|
|---|
| 637 | if (argc > 2) val |= (argv[2] << 7);
|
|---|
| 638 | if (argc > 3) val |= (argv[3] << 14);
|
|---|
| 639 | analogWriteCallback(argv[0], val);
|
|---|
| 640 | }
|
|---|
| 641 | break;
|
|---|
| 642 | case CAPABILITY_QUERY:
|
|---|
| 643 | Firmata.write(START_SYSEX);
|
|---|
| 644 | Firmata.write(CAPABILITY_RESPONSE);
|
|---|
| 645 | for (byte pin = 0; pin < TOTAL_PINS; pin++) {
|
|---|
| 646 | if (IS_PIN_DIGITAL(pin)) {
|
|---|
| 647 | Firmata.write((byte)INPUT);
|
|---|
| 648 | Firmata.write(1);
|
|---|
| 649 | Firmata.write((byte)PIN_MODE_PULLUP);
|
|---|
| 650 | Firmata.write(1);
|
|---|
| 651 | Firmata.write((byte)OUTPUT);
|
|---|
| 652 | Firmata.write(1);
|
|---|
| 653 | }
|
|---|
| 654 | if (IS_PIN_ANALOG(pin)) {
|
|---|
| 655 | Firmata.write(PIN_MODE_ANALOG);
|
|---|
| 656 | Firmata.write(10); // 10 = 10-bit resolution
|
|---|
| 657 | }
|
|---|
| 658 | if (IS_PIN_PWM(pin)) {
|
|---|
| 659 | Firmata.write(PIN_MODE_PWM);
|
|---|
| 660 | Firmata.write(8); // 8 = 8-bit resolution
|
|---|
| 661 | }
|
|---|
| 662 | if (IS_PIN_DIGITAL(pin)) {
|
|---|
| 663 | Firmata.write(PIN_MODE_SERVO);
|
|---|
| 664 | Firmata.write(14);
|
|---|
| 665 | }
|
|---|
| 666 | if (IS_PIN_I2C(pin)) {
|
|---|
| 667 | Firmata.write(PIN_MODE_I2C);
|
|---|
| 668 | Firmata.write(1); // TODO: could assign a number to map to SCL or SDA
|
|---|
| 669 | }
|
|---|
| 670 | #ifdef FIRMATA_SERIAL_FEATURE
|
|---|
| 671 | serialFeature.handleCapability(pin);
|
|---|
| 672 | #endif
|
|---|
| 673 | Firmata.write(127);
|
|---|
| 674 | }
|
|---|
| 675 | Firmata.write(END_SYSEX);
|
|---|
| 676 | break;
|
|---|
| 677 | case PIN_STATE_QUERY:
|
|---|
| 678 | if (argc > 0) {
|
|---|
| 679 | byte pin = argv[0];
|
|---|
| 680 | Firmata.write(START_SYSEX);
|
|---|
| 681 | Firmata.write(PIN_STATE_RESPONSE);
|
|---|
| 682 | Firmata.write(pin);
|
|---|
| 683 | if (pin < TOTAL_PINS) {
|
|---|
| 684 | Firmata.write(Firmata.getPinMode(pin));
|
|---|
| 685 | Firmata.write((byte)Firmata.getPinState(pin) & 0x7F);
|
|---|
| 686 | if (Firmata.getPinState(pin) & 0xFF80) Firmata.write((byte)(Firmata.getPinState(pin) >> 7) & 0x7F);
|
|---|
| 687 | if (Firmata.getPinState(pin) & 0xC000) Firmata.write((byte)(Firmata.getPinState(pin) >> 14) & 0x7F);
|
|---|
| 688 | }
|
|---|
| 689 | Firmata.write(END_SYSEX);
|
|---|
| 690 | }
|
|---|
| 691 | break;
|
|---|
| 692 | case ANALOG_MAPPING_QUERY:
|
|---|
| 693 | Firmata.write(START_SYSEX);
|
|---|
| 694 | Firmata.write(ANALOG_MAPPING_RESPONSE);
|
|---|
| 695 | for (byte pin = 0; pin < TOTAL_PINS; pin++) {
|
|---|
| 696 | Firmata.write(IS_PIN_ANALOG(pin) ? PIN_TO_ANALOG(pin) : 127);
|
|---|
| 697 | }
|
|---|
| 698 | Firmata.write(END_SYSEX);
|
|---|
| 699 | break;
|
|---|
| 700 |
|
|---|
| 701 | case SERIAL_MESSAGE:
|
|---|
| 702 | #ifdef FIRMATA_SERIAL_FEATURE
|
|---|
| 703 | serialFeature.handleSysex(command, argc, argv);
|
|---|
| 704 | #endif
|
|---|
| 705 | break;
|
|---|
| 706 | }
|
|---|
| 707 | }
|
|---|
| 708 |
|
|---|
| 709 |
|
|---|
| 710 | /*==============================================================================
|
|---|
| 711 | * SETUP()
|
|---|
| 712 | *============================================================================*/
|
|---|
| 713 |
|
|---|
| 714 | void systemResetCallback()
|
|---|
| 715 | {
|
|---|
| 716 | isResetting = true;
|
|---|
| 717 |
|
|---|
| 718 | #ifdef FIRMATA_SERIAL_FEATURE
|
|---|
| 719 | serialFeature.reset();
|
|---|
| 720 | #endif
|
|---|
| 721 |
|
|---|
| 722 | if (isI2CEnabled) {
|
|---|
| 723 | disableI2CPins();
|
|---|
| 724 | }
|
|---|
| 725 |
|
|---|
| 726 | for (byte i = 0; i < TOTAL_PORTS; i++) {
|
|---|
| 727 | reportPINs[i] = false; // by default, reporting off
|
|---|
| 728 | portConfigInputs[i] = 0; // until activated
|
|---|
| 729 | previousPINs[i] = 0;
|
|---|
| 730 | }
|
|---|
| 731 |
|
|---|
| 732 | for (byte i = 0; i < TOTAL_PINS; i++) {
|
|---|
| 733 | // pins with analog capability default to analog input
|
|---|
| 734 | // otherwise, pins default to digital output
|
|---|
| 735 | if (IS_PIN_ANALOG(i)) {
|
|---|
| 736 | // turns off pullup, configures everything
|
|---|
| 737 | setPinModeCallback(i, PIN_MODE_ANALOG);
|
|---|
| 738 | } else if (IS_PIN_DIGITAL(i)) {
|
|---|
| 739 | // sets the output to 0, configures portConfigInputs
|
|---|
| 740 | setPinModeCallback(i, OUTPUT);
|
|---|
| 741 | }
|
|---|
| 742 |
|
|---|
| 743 | servoPinMap[i] = 255;
|
|---|
| 744 | }
|
|---|
| 745 | // by default, do not report any analog inputs
|
|---|
| 746 | analogInputsToReport = 0;
|
|---|
| 747 |
|
|---|
| 748 | detachedServoCount = 0;
|
|---|
| 749 | servoCount = 0;
|
|---|
| 750 |
|
|---|
| 751 | isResetting = false;
|
|---|
| 752 | }
|
|---|
| 753 |
|
|---|
| 754 | void setup()
|
|---|
| 755 | {
|
|---|
| 756 | DEBUG_BEGIN(9600);
|
|---|
| 757 |
|
|---|
| 758 | Firmata.setFirmwareVersion(FIRMATA_FIRMWARE_MAJOR_VERSION, FIRMATA_FIRMWARE_MINOR_VERSION);
|
|---|
| 759 |
|
|---|
| 760 | Firmata.attach(ANALOG_MESSAGE, analogWriteCallback);
|
|---|
| 761 | Firmata.attach(DIGITAL_MESSAGE, digitalWriteCallback);
|
|---|
| 762 | Firmata.attach(REPORT_ANALOG, reportAnalogCallback);
|
|---|
| 763 | Firmata.attach(REPORT_DIGITAL, reportDigitalCallback);
|
|---|
| 764 | Firmata.attach(SET_PIN_MODE, setPinModeCallback);
|
|---|
| 765 | Firmata.attach(SET_DIGITAL_PIN_VALUE, setPinValueCallback);
|
|---|
| 766 | Firmata.attach(START_SYSEX, sysexCallback);
|
|---|
| 767 | Firmata.attach(SYSTEM_RESET, systemResetCallback);
|
|---|
| 768 |
|
|---|
| 769 | stream.setLocalName(FIRMATA_BLE_LOCAL_NAME);
|
|---|
| 770 |
|
|---|
| 771 | // setConnectionInterval is not available in the CurieBLE library included in the
|
|---|
| 772 | // Intel Curie Boards package v1.0.5 (latest version via the Boards Manager). Without
|
|---|
| 773 | // setConnectionInterval, the BLE reporting rate for analog input and I2C read continuous mode
|
|---|
| 774 | // will be very slow (150ms instead of 30ms).
|
|---|
| 775 | // However, you can manually update CurieBLE to get the functionality now. Follow these steps:
|
|---|
| 776 | // 1. Install Intel Curie Boards v1.0.5 via the Arduino Boards manager (use Arduino 1.6.7 or newer)
|
|---|
| 777 | // 2. Download or clone corelibs-arduino101: https://github.com/01org/corelibs-arduino101
|
|---|
| 778 | // 3. Make a copy of the CurieBLE directory found in corelibs-arduino101/libraries/
|
|---|
| 779 | // 4. Find the Arduino15 directory on your computer:
|
|---|
| 780 | // OS X: ~/Library/Arduino15
|
|---|
| 781 | // Windows: C:\Users\(username)\AppData\Local\Arduino15
|
|---|
| 782 | // Linux: ~/.arduino15
|
|---|
| 783 | // 5. From the Arduino15 directory, navigate to: /packages/Intel/hardware/arc32/1.0.5/libraries/
|
|---|
| 784 | // 6. Replace the CurieBLE library with the version you copied in step 3
|
|---|
| 785 | // 7. Comment out the #ifndef statement below and the following #endif statement
|
|---|
| 786 | #ifndef _VARIANT_ARDUINO_101_X_
|
|---|
| 787 | // set the BLE connection interval - this is the fastest interval you can read inputs
|
|---|
| 788 | stream.setConnectionInterval(FIRMATA_BLE_MIN_INTERVAL, FIRMATA_BLE_MAX_INTERVAL);
|
|---|
| 789 | // set how often the BLE TX buffer is flushed (if not full)
|
|---|
| 790 | stream.setFlushInterval(FIRMATA_BLE_MAX_INTERVAL);
|
|---|
| 791 | #endif
|
|---|
| 792 |
|
|---|
| 793 | #ifdef BLE_REQ
|
|---|
| 794 | for (byte i = 0; i < TOTAL_PINS; i++) {
|
|---|
| 795 | if (IS_IGNORE_BLE_PINS(i)) {
|
|---|
| 796 | Firmata.setPinMode(i, PIN_MODE_IGNORE);
|
|---|
| 797 | }
|
|---|
| 798 | }
|
|---|
| 799 | #endif
|
|---|
| 800 |
|
|---|
| 801 | stream.begin();
|
|---|
| 802 | Firmata.begin(stream);
|
|---|
| 803 |
|
|---|
| 804 | systemResetCallback(); // reset to default config
|
|---|
| 805 | }
|
|---|
| 806 |
|
|---|
| 807 | /*==============================================================================
|
|---|
| 808 | * LOOP()
|
|---|
| 809 | *============================================================================*/
|
|---|
| 810 | void loop()
|
|---|
| 811 | {
|
|---|
| 812 | byte pin, analogPin;
|
|---|
| 813 |
|
|---|
| 814 | // do not process data if no BLE connection is established
|
|---|
| 815 | // poll will send the TX buffer at the specified flush interval or when the buffer is full
|
|---|
| 816 | if (!stream.poll()) return;
|
|---|
| 817 |
|
|---|
| 818 | /* DIGITALREAD - as fast as possible, check for changes and output them to the
|
|---|
| 819 | * Stream buffer using Stream.write() */
|
|---|
| 820 | checkDigitalInputs();
|
|---|
| 821 |
|
|---|
| 822 | /* STREAMREAD - processing incoming messagse as soon as possible, while still
|
|---|
| 823 | * checking digital inputs. */
|
|---|
| 824 | while (Firmata.available())
|
|---|
| 825 | Firmata.processInput();
|
|---|
| 826 |
|
|---|
| 827 | currentMillis = millis();
|
|---|
| 828 | if (currentMillis - previousMillis > samplingInterval) {
|
|---|
| 829 | previousMillis = currentMillis;
|
|---|
| 830 | /* ANALOGREAD - do all analogReads() at the configured sampling interval */
|
|---|
| 831 | for (pin = 0; pin < TOTAL_PINS; pin++) {
|
|---|
| 832 | if (IS_PIN_ANALOG(pin) && Firmata.getPinMode(pin) == PIN_MODE_ANALOG) {
|
|---|
| 833 | analogPin = PIN_TO_ANALOG(pin);
|
|---|
| 834 | if (analogInputsToReport & (1 << analogPin)) {
|
|---|
| 835 | Firmata.sendAnalog(analogPin, analogRead(analogPin));
|
|---|
| 836 | }
|
|---|
| 837 | }
|
|---|
| 838 | }
|
|---|
| 839 | // report i2c data for all device with read continuous mode enabled
|
|---|
| 840 | if (queryIndex > -1) {
|
|---|
| 841 | for (byte i = 0; i < queryIndex + 1; i++) {
|
|---|
| 842 | readAndReportData(query[i].addr, query[i].reg, query[i].bytes, query[i].stopTX);
|
|---|
| 843 | }
|
|---|
| 844 | }
|
|---|
| 845 | }
|
|---|
| 846 |
|
|---|
| 847 | #ifdef FIRMATA_SERIAL_FEATURE
|
|---|
| 848 | serialFeature.update();
|
|---|
| 849 | #endif
|
|---|
| 850 | }
|
|---|
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