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
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376 | }
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377 |
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378 | /*
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379 | * Sets the value of an individual pin. Useful if you want to set a pin value but
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380 | * are not tracking the digital port state.
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381 | * Can only be used on pins configured as OUTPUT.
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382 | * Cannot be used to enable pull-ups on Digital INPUT pins.
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383 | */
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384 | void setPinValueCallback(byte pin, int value)
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385 | {
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386 | if (pin < TOTAL_PINS && IS_PIN_DIGITAL(pin)) {
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387 | if (Firmata.getPinMode(pin) == OUTPUT) {
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388 | Firmata.setPinState(pin, value);
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389 | digitalWrite(PIN_TO_DIGITAL(pin), value);
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390 | }
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391 | }
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392 | }
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393 |
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394 | void analogWriteCallback(byte pin, int value)
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395 | {
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396 | if (pin < TOTAL_PINS) {
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397 | switch (Firmata.getPinMode(pin)) {
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398 | case PIN_MODE_SERVO:
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399 | if (IS_PIN_DIGITAL(pin))
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400 | servos[servoPinMap[pin]].write(value);
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401 | Firmata.setPinState(pin, value);
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402 | break;
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403 | case PIN_MODE_PWM:
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404 | if (IS_PIN_PWM(pin))
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405 | analogWrite(PIN_TO_PWM(pin), value);
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406 | Firmata.setPinState(pin, value);
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407 | break;
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408 | }
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409 | }
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410 | }
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411 |
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412 | void digitalWriteCallback(byte port, int value)
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413 | {
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414 | byte pin, lastPin, pinValue, mask = 1, pinWriteMask = 0;
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415 |
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416 | if (port < TOTAL_PORTS) {
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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 | }
|
---|