[224] | 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 | Copyright (C) 2015 Brian Schmalz. All rights reserved.
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| 16 |
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| 17 | This library is free software; you can redistribute it and/or
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| 18 | modify it under the terms of the GNU Lesser General Public
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| 19 | License as published by the Free Software Foundation; either
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| 20 | version 2.1 of the License, or (at your option) any later version.
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| 21 |
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| 22 | See file LICENSE.txt for further informations on licensing terms.
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| 23 |
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| 24 | Last updated by Jeff Hoefs: January 10th, 2016
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| 25 | */
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| 26 |
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| 27 | #include <SoftPWMServo.h> // Gives us PWM and Servo on every pin
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| 28 | #include <Wire.h>
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| 29 | #include <Firmata.h>
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| 30 |
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| 31 | #define I2C_WRITE B00000000
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| 32 | #define I2C_READ B00001000
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| 33 | #define I2C_READ_CONTINUOUSLY B00010000
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| 34 | #define I2C_STOP_READING B00011000
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| 35 | #define I2C_READ_WRITE_MODE_MASK B00011000
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| 36 | #define I2C_10BIT_ADDRESS_MODE_MASK B00100000
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| 37 | #define I2C_END_TX_MASK B01000000
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| 38 | #define I2C_STOP_TX 1
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| 39 | #define I2C_RESTART_TX 0
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| 40 | #define I2C_MAX_QUERIES 8
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| 41 | #define I2C_REGISTER_NOT_SPECIFIED -1
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| 42 |
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| 43 | // the minimum interval for sampling analog input
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| 44 | #define MINIMUM_SAMPLING_INTERVAL 1
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| 45 |
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| 46 |
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| 47 | /*==============================================================================
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| 48 | * GLOBAL VARIABLES
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| 49 | *============================================================================*/
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| 50 |
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| 51 | /* analog inputs */
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| 52 | int analogInputsToReport = 0; // bitwise array to store pin reporting
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| 53 |
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| 54 | /* digital input ports */
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| 55 | byte reportPINs[TOTAL_PORTS]; // 1 = report this port, 0 = silence
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| 56 | byte previousPINs[TOTAL_PORTS]; // previous 8 bits sent
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| 57 |
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| 58 | /* pins configuration */
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| 59 | byte portConfigInputs[TOTAL_PORTS]; // each bit: 1 = pin in INPUT, 0 = anything else
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| 60 |
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| 61 | /* timer variables */
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| 62 | unsigned long currentMillis; // store the current value from millis()
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| 63 | unsigned long previousMillis; // for comparison with currentMillis
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| 64 | unsigned int samplingInterval = 19; // how often to run the main loop (in ms)
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| 65 |
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| 66 | /* i2c data */
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| 67 | struct i2c_device_info {
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| 68 | byte addr;
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| 69 | int reg;
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| 70 | byte bytes;
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| 71 | byte stopTX;
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| 72 | };
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| 73 |
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| 74 | /* for i2c read continuous more */
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| 75 | i2c_device_info query[I2C_MAX_QUERIES];
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| 76 |
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| 77 | byte i2cRxData[64];
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| 78 | boolean isI2CEnabled = false;
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| 79 | signed char queryIndex = -1;
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| 80 | // default delay time between i2c read request and Wire.requestFrom()
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| 81 | unsigned int i2cReadDelayTime = 0;
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| 82 |
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| 83 | SoftServo servos[MAX_SERVOS];
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| 84 | byte servoPinMap[TOTAL_PINS];
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| 85 | byte detachedServos[MAX_SERVOS];
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| 86 | byte detachedServoCount = 0;
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| 87 | byte servoCount = 0;
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| 88 |
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| 89 | boolean isResetting = false;
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| 90 |
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| 91 | /* utility functions */
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| 92 | void wireWrite(byte data)
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| 93 | {
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| 94 | #if ARDUINO >= 100
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| 95 | Wire.write((byte)data);
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| 96 | #else
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| 97 | Wire.send(data);
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| 98 | #endif
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| 99 | }
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| 100 |
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| 101 | byte wireRead(void)
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| 102 | {
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| 103 | #if ARDUINO >= 100
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| 104 | return Wire.read();
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| 105 | #else
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| 106 | return Wire.receive();
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| 107 | #endif
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| 108 | }
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| 109 |
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| 110 | /*==============================================================================
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| 111 | * FUNCTIONS
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| 112 | *============================================================================*/
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| 113 |
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| 114 | void attachServo(byte pin, int minPulse, int maxPulse)
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| 115 | {
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| 116 | if (servoCount < MAX_SERVOS) {
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| 117 | // reuse indexes of detached servos until all have been reallocated
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| 118 | if (detachedServoCount > 0) {
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| 119 | servoPinMap[pin] = detachedServos[detachedServoCount - 1];
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| 120 | if (detachedServoCount > 0) detachedServoCount--;
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| 121 | } else {
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| 122 | servoPinMap[pin] = servoCount;
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| 123 | servoCount++;
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| 124 | }
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| 125 | if (minPulse > 0 && maxPulse > 0) {
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| 126 | servos[servoPinMap[pin]].attach(PIN_TO_DIGITAL(pin), minPulse, maxPulse);
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| 127 | } else {
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| 128 | servos[servoPinMap[pin]].attach(PIN_TO_DIGITAL(pin));
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| 129 | }
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| 130 | } else {
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| 131 | Firmata.sendString("Max servos attached");
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| 132 | }
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| 133 | }
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| 134 |
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| 135 | void detachServo(byte pin)
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| 136 | {
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| 137 | servos[servoPinMap[pin]].detach();
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| 138 | // if we're detaching the last servo, decrement the count
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| 139 | // otherwise store the index of the detached servo
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| 140 | if (servoPinMap[pin] == servoCount && servoCount > 0) {
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| 141 | servoCount--;
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| 142 | } else if (servoCount > 0) {
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| 143 | // keep track of detached servos because we want to reuse their indexes
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| 144 | // before incrementing the count of attached servos
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| 145 | detachedServoCount++;
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| 146 | detachedServos[detachedServoCount - 1] = servoPinMap[pin];
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| 147 | }
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| 148 |
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| 149 | servoPinMap[pin] = 255;
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| 150 | }
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| 151 |
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| 152 | void readAndReportData(byte address, int theRegister, byte numBytes, byte stopTX) {
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| 153 | // allow I2C requests that don't require a register read
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| 154 | // for example, some devices using an interrupt pin to signify new data available
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| 155 | // do not always require the register read so upon interrupt you call Wire.requestFrom()
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| 156 | if (theRegister != I2C_REGISTER_NOT_SPECIFIED) {
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| 157 | Wire.beginTransmission(address);
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| 158 | wireWrite((byte)theRegister);
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| 159 | Wire.endTransmission(stopTX); // default = true
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| 160 | // do not set a value of 0
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| 161 | if (i2cReadDelayTime > 0) {
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| 162 | // delay is necessary for some devices such as WiiNunchuck
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| 163 | delayMicroseconds(i2cReadDelayTime);
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| 164 | }
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| 165 | } else {
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| 166 | theRegister = 0; // fill the register with a dummy value
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| 167 | }
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| 168 |
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| 169 | Wire.requestFrom(address, numBytes); // all bytes are returned in requestFrom
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| 170 |
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| 171 | // check to be sure correct number of bytes were returned by slave
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| 172 | if (numBytes < Wire.available()) {
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| 173 | Firmata.sendString("I2C: Too many bytes received");
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| 174 | } else if (numBytes > Wire.available()) {
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| 175 | Firmata.sendString("I2C: Too few bytes received");
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| 176 | }
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| 177 |
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| 178 | i2cRxData[0] = address;
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| 179 | i2cRxData[1] = theRegister;
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| 180 |
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| 181 | for (int i = 0; i < numBytes && Wire.available(); i++) {
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| 182 | i2cRxData[2 + i] = wireRead();
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| 183 | }
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| 184 |
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| 185 | // send slave address, register and received bytes
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| 186 | Firmata.sendSysex(SYSEX_I2C_REPLY, numBytes + 2, i2cRxData);
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| 187 | }
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| 188 |
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| 189 | void outputPort(byte portNumber, byte portValue, byte forceSend)
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| 190 | {
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| 191 | // pins not configured as INPUT are cleared to zeros
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| 192 | portValue = portValue & portConfigInputs[portNumber];
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| 193 | // only send if the value is different than previously sent
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| 194 | if (forceSend || previousPINs[portNumber] != portValue) {
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| 195 | Firmata.sendDigitalPort(portNumber, portValue);
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| 196 | previousPINs[portNumber] = portValue;
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| 197 | }
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| 198 | }
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| 199 |
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| 200 | /* -----------------------------------------------------------------------------
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| 201 | * check all the active digital inputs for change of state, then add any events
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| 202 | * to the Serial output queue using Serial.print() */
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| 203 | void checkDigitalInputs(void)
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| 204 | {
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| 205 | /* Using non-looping code allows constants to be given to readPort().
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| 206 | * The compiler will apply substantial optimizations if the inputs
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| 207 | * to readPort() are compile-time constants. */
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| 208 | if (TOTAL_PORTS > 0 && reportPINs[0]) outputPort(0, readPort(0, portConfigInputs[0]), false);
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| 209 | if (TOTAL_PORTS > 1 && reportPINs[1]) outputPort(1, readPort(1, portConfigInputs[1]), false);
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| 210 | if (TOTAL_PORTS > 2 && reportPINs[2]) outputPort(2, readPort(2, portConfigInputs[2]), false);
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| 211 | if (TOTAL_PORTS > 3 && reportPINs[3]) outputPort(3, readPort(3, portConfigInputs[3]), false);
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| 212 | if (TOTAL_PORTS > 4 && reportPINs[4]) outputPort(4, readPort(4, portConfigInputs[4]), false);
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| 213 | if (TOTAL_PORTS > 5 && reportPINs[5]) outputPort(5, readPort(5, portConfigInputs[5]), false);
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| 214 | if (TOTAL_PORTS > 6 && reportPINs[6]) outputPort(6, readPort(6, portConfigInputs[6]), false);
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| 215 | if (TOTAL_PORTS > 7 && reportPINs[7]) outputPort(7, readPort(7, portConfigInputs[7]), false);
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| 216 | if (TOTAL_PORTS > 8 && reportPINs[8]) outputPort(8, readPort(8, portConfigInputs[8]), false);
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| 217 | if (TOTAL_PORTS > 9 && reportPINs[9]) outputPort(9, readPort(9, portConfigInputs[9]), false);
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| 218 | if (TOTAL_PORTS > 10 && reportPINs[10]) outputPort(10, readPort(10, portConfigInputs[10]), false);
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| 219 | if (TOTAL_PORTS > 11 && reportPINs[11]) outputPort(11, readPort(11, portConfigInputs[11]), false);
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| 220 | if (TOTAL_PORTS > 12 && reportPINs[12]) outputPort(12, readPort(12, portConfigInputs[12]), false);
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| 221 | if (TOTAL_PORTS > 13 && reportPINs[13]) outputPort(13, readPort(13, portConfigInputs[13]), false);
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| 222 | if (TOTAL_PORTS > 14 && reportPINs[14]) outputPort(14, readPort(14, portConfigInputs[14]), false);
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| 223 | if (TOTAL_PORTS > 15 && reportPINs[15]) outputPort(15, readPort(15, portConfigInputs[15]), false);
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| 224 | }
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| 225 |
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| 226 | // -----------------------------------------------------------------------------
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| 227 | /* Sets a pin that is in Servo mode to a particular output value
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| 228 | * (i.e. pulse width). Different boards may have different ways of
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| 229 | * setting servo values, so putting it in a function keeps things cleaner.
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| 230 | */
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| 231 | void servoWrite(byte pin, int value)
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| 232 | {
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| 233 | SoftPWMServoPWMWrite(PIN_TO_PWM(pin), value);
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| 234 | }
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| 235 |
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| 236 | // -----------------------------------------------------------------------------
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| 237 | /* sets the pin mode to the correct state and sets the relevant bits in the
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| 238 | * two bit-arrays that track Digital I/O and PWM status
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| 239 | */
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| 240 | void setPinModeCallback(byte pin, int mode)
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| 241 | {
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| 242 | if (Firmata.getPinMode(pin) == PIN_MODE_IGNORE)
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| 243 | return;
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| 244 |
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| 245 | if (Firmata.getPinMode(pin) == PIN_MODE_I2C && isI2CEnabled && mode != PIN_MODE_I2C) {
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| 246 | // disable i2c so pins can be used for other functions
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| 247 | // the following if statements should reconfigure the pins properly
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| 248 | disableI2CPins();
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| 249 | }
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| 250 | if (IS_PIN_DIGITAL(pin) && mode != PIN_MODE_SERVO) {
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| 251 | if (servoPinMap[pin] < MAX_SERVOS && servos[servoPinMap[pin]].attached()) {
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| 252 | detachServo(pin);
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| 253 | }
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| 254 | }
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| 255 | if (IS_PIN_ANALOG(pin)) {
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| 256 | reportAnalogCallback(PIN_TO_ANALOG(pin), mode == PIN_MODE_ANALOG ? 1 : 0); // turn on/off reporting
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| 257 | }
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| 258 | if (IS_PIN_DIGITAL(pin)) {
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| 259 | if (mode == INPUT || mode == PIN_MODE_PULLUP) {
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| 260 | portConfigInputs[pin / 8] |= (1 << (pin & 7));
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| 261 | } else {
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| 262 | portConfigInputs[pin / 8] &= ~(1 << (pin & 7));
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| 263 | }
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| 264 | }
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| 265 | Firmata.setPinState(pin, 0);
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| 266 | switch (mode) {
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| 267 | case PIN_MODE_ANALOG:
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| 268 | if (IS_PIN_ANALOG(pin)) {
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| 269 | if (IS_PIN_DIGITAL(pin)) {
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| 270 | pinMode(PIN_TO_DIGITAL(pin), INPUT); // disable output driver
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| 271 | #if ARDUINO <= 100
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| 272 | // deprecated since Arduino 1.0.1 - TODO: drop support in Firmata 2.6
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| 273 | digitalWrite(PIN_TO_DIGITAL(pin), LOW); // disable internal pull-ups
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| 274 | #endif
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| 275 | }
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| 276 | Firmata.setPinMode(pin, PIN_MODE_ANALOG);
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| 277 | }
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| 278 | break;
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| 279 | case INPUT:
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| 280 | if (IS_PIN_DIGITAL(pin)) {
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| 281 | pinMode(PIN_TO_DIGITAL(pin), INPUT); // disable output driver
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| 282 | #if ARDUINO <= 100
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| 283 | // deprecated since Arduino 1.0.1 - TODO: drop support in Firmata 2.6
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| 284 | digitalWrite(PIN_TO_DIGITAL(pin), LOW); // disable internal pull-ups
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| 285 | #endif
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| 286 | Firmata.setPinMode(pin, INPUT);
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| 287 | }
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| 288 | break;
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| 289 | case PIN_MODE_PULLUP:
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| 290 | if (IS_PIN_DIGITAL(pin)) {
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| 291 | pinMode(PIN_TO_DIGITAL(pin), INPUT_PULLUP);
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| 292 | Firmata.setPinMode(pin, PIN_MODE_PULLUP);
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| 293 | Firmata.setPinState(pin, 1);
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| 294 | }
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| 295 | break;
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| 296 | case OUTPUT:
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| 297 | if (IS_PIN_DIGITAL(pin)) {
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| 298 | digitalWrite(PIN_TO_DIGITAL(pin), LOW); // disable PWM
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| 299 | pinMode(PIN_TO_DIGITAL(pin), OUTPUT);
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| 300 | Firmata.setPinMode(pin, OUTPUT);
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| 301 | }
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| 302 | break;
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| 303 | case PIN_MODE_PWM:
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| 304 | if (IS_PIN_PWM(pin)) {
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| 305 | pinMode(PIN_TO_PWM(pin), OUTPUT);
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| 306 | servoWrite(PIN_TO_PWM(pin), 0);
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| 307 | Firmata.setPinMode(pin, PIN_MODE_PWM);
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| 308 | }
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| 309 | break;
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| 310 | case PIN_MODE_SERVO:
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| 311 | if (IS_PIN_DIGITAL(pin)) {
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| 312 | Firmata.setPinMode(pin, PIN_MODE_SERVO);
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| 313 | if (servoPinMap[pin] == 255 || !servos[servoPinMap[pin]].attached()) {
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| 314 | // pass -1 for min and max pulse values to use default values set
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| 315 | // by Servo library
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| 316 | attachServo(pin, -1, -1);
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| 317 | }
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| 318 | }
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| 319 | break;
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| 320 | case PIN_MODE_I2C:
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| 321 | if (IS_PIN_I2C(pin)) {
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| 322 | // mark the pin as i2c
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| 323 | // the user must call I2C_CONFIG to enable I2C for a device
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| 324 | Firmata.setPinMode(pin, PIN_MODE_I2C);
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| 325 | }
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| 326 | break;
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| 327 | default:
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| 328 | Firmata.sendString("Unknown pin mode"); // TODO: put error msgs in EEPROM
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| 329 | }
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| 330 | // TODO: save status to EEPROM here, if changed
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| 331 | }
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| 332 |
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| 333 | /*
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| 334 | * Sets the value of an individual pin. Useful if you want to set a pin value but
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| 335 | * are not tracking the digital port state.
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| 336 | * Can only be used on pins configured as OUTPUT.
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| 337 | * Cannot be used to enable pull-ups on Digital INPUT pins.
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| 338 | */
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| 339 | void setPinValueCallback(byte pin, int value)
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| 340 | {
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| 341 | if (pin < TOTAL_PINS && IS_PIN_DIGITAL(pin)) {
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| 342 | if (Firmata.getPinMode(pin) == OUTPUT) {
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| 343 | Firmata.setPinState(pin, value);
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| 344 | digitalWrite(PIN_TO_DIGITAL(pin), value);
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| 345 | }
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| 346 | }
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| 347 | }
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| 348 |
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| 349 | void analogWriteCallback(byte pin, int value)
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| 350 | {
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| 351 | if (pin < TOTAL_PINS) {
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| 352 | switch (Firmata.getPinMode(pin)) {
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| 353 | case PIN_MODE_SERVO:
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| 354 | if (IS_PIN_DIGITAL(pin))
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| 355 | servos[servoPinMap[pin]].write(value);
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| 356 | Firmata.setPinState(pin, value);
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| 357 | break;
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| 358 | case PIN_MODE_PWM:
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| 359 | if (IS_PIN_PWM(pin))
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| 360 | servoWrite(PIN_TO_PWM(pin), value);
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| 361 | Firmata.setPinState(pin, value);
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| 362 | break;
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| 363 | }
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| 364 | }
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| 365 | }
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| 366 |
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| 367 | void digitalWriteCallback(byte port, int value)
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| 368 | {
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| 369 | byte pin, lastPin, pinValue, mask = 1, pinWriteMask = 0;
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| 370 |
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| 371 | if (port < TOTAL_PORTS) {
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| 372 | // create a mask of the pins on this port that are writable.
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| 373 | lastPin = port * 8 + 8;
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| 374 | if (lastPin > TOTAL_PINS) lastPin = TOTAL_PINS;
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| 375 | for (pin = port * 8; pin < lastPin; pin++) {
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| 376 | // do not disturb non-digital pins (eg, Rx & Tx)
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| 377 | if (IS_PIN_DIGITAL(pin)) {
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| 378 | // do not touch pins in PWM, ANALOG, SERVO or other modes
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| 379 | if (Firmata.getPinMode(pin) == OUTPUT || Firmata.getPinMode(pin) == INPUT) {
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| 380 | pinValue = ((byte)value & mask) ? 1 : 0;
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| 381 | if (Firmata.getPinMode(pin) == OUTPUT) {
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| 382 | pinWriteMask |= mask;
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| 383 | } else if (Firmata.getPinMode(pin) == INPUT && pinValue == 1 && Firmata.getPinState(pin) != 1) {
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| 384 | // only handle INPUT here for backwards compatibility
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| 385 | #if ARDUINO > 100
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| 386 | pinMode(pin, INPUT_PULLUP);
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| 387 | #else
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| 388 | // only write to the INPUT pin to enable pullups if Arduino v1.0.0 or earlier
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| 389 | pinWriteMask |= mask;
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| 390 | #endif
|
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| 391 | }
|
---|
| 392 | Firmata.setPinState(pin, pinValue);
|
---|
| 393 | }
|
---|
| 394 | }
|
---|
| 395 | mask = mask << 1;
|
---|
| 396 | }
|
---|
| 397 | writePort(port, (byte)value, pinWriteMask);
|
---|
| 398 | }
|
---|
| 399 | }
|
---|
| 400 |
|
---|
| 401 |
|
---|
| 402 | // -----------------------------------------------------------------------------
|
---|
| 403 | /* sets bits in a bit array (int) to toggle the reporting of the analogIns
|
---|
| 404 | */
|
---|
| 405 | //void FirmataClass::setAnalogPinReporting(byte pin, byte state) {
|
---|
| 406 | //}
|
---|
| 407 | void reportAnalogCallback(byte analogPin, int value)
|
---|
| 408 | {
|
---|
| 409 | if (analogPin < TOTAL_ANALOG_PINS) {
|
---|
| 410 | if (value == 0) {
|
---|
| 411 | analogInputsToReport = analogInputsToReport & ~ (1 << analogPin);
|
---|
| 412 | } else {
|
---|
| 413 | analogInputsToReport = analogInputsToReport | (1 << analogPin);
|
---|
| 414 | // prevent during system reset or all analog pin values will be reported
|
---|
| 415 | // which may report noise for unconnected analog pins
|
---|
| 416 | if (!isResetting) {
|
---|
| 417 | // Send pin value immediately. This is helpful when connected via
|
---|
| 418 | // ethernet, wi-fi or bluetooth so pin states can be known upon
|
---|
| 419 | // reconnecting.
|
---|
| 420 | Firmata.sendAnalog(analogPin, analogRead(analogPin));
|
---|
| 421 | }
|
---|
| 422 | }
|
---|
| 423 | }
|
---|
| 424 | // TODO: save status to EEPROM here, if changed
|
---|
| 425 | }
|
---|
| 426 |
|
---|
| 427 | void reportDigitalCallback(byte port, int value)
|
---|
| 428 | {
|
---|
| 429 | if (port < TOTAL_PORTS) {
|
---|
| 430 | reportPINs[port] = (byte)value;
|
---|
| 431 | // Send port value immediately. This is helpful when connected via
|
---|
| 432 | // ethernet, wi-fi or bluetooth so pin states can be known upon
|
---|
| 433 | // reconnecting.
|
---|
| 434 | if (value) outputPort(port, readPort(port, portConfigInputs[port]), true);
|
---|
| 435 | }
|
---|
| 436 | // do not disable analog reporting on these 8 pins, to allow some
|
---|
| 437 | // pins used for digital, others analog. Instead, allow both types
|
---|
| 438 | // of reporting to be enabled, but check if the pin is configured
|
---|
| 439 | // as analog when sampling the analog inputs. Likewise, while
|
---|
| 440 | // scanning digital pins, portConfigInputs will mask off values from any
|
---|
| 441 | // pins configured as analog
|
---|
| 442 | }
|
---|
| 443 |
|
---|
| 444 | /*==============================================================================
|
---|
| 445 | * SYSEX-BASED commands
|
---|
| 446 | *============================================================================*/
|
---|
| 447 |
|
---|
| 448 | void sysexCallback(byte command, byte argc, byte *argv)
|
---|
| 449 | {
|
---|
| 450 | byte mode;
|
---|
| 451 | byte stopTX;
|
---|
| 452 | byte slaveAddress;
|
---|
| 453 | byte data;
|
---|
| 454 | int slaveRegister;
|
---|
| 455 | unsigned int delayTime;
|
---|
| 456 |
|
---|
| 457 | switch (command) {
|
---|
| 458 | case I2C_REQUEST:
|
---|
| 459 | mode = argv[1] & I2C_READ_WRITE_MODE_MASK;
|
---|
| 460 | if (argv[1] & I2C_10BIT_ADDRESS_MODE_MASK) {
|
---|
| 461 | Firmata.sendString("10-bit addressing not supported");
|
---|
| 462 | return;
|
---|
| 463 | }
|
---|
| 464 | else {
|
---|
| 465 | slaveAddress = argv[0];
|
---|
| 466 | }
|
---|
| 467 |
|
---|
| 468 | // need to invert the logic here since 0 will be default for client
|
---|
| 469 | // libraries that have not updated to add support for restart tx
|
---|
| 470 | if (argv[1] & I2C_END_TX_MASK) {
|
---|
| 471 | stopTX = I2C_RESTART_TX;
|
---|
| 472 | }
|
---|
| 473 | else {
|
---|
| 474 | stopTX = I2C_STOP_TX; // default
|
---|
| 475 | }
|
---|
| 476 |
|
---|
| 477 | switch (mode) {
|
---|
| 478 | case I2C_WRITE:
|
---|
| 479 | Wire.beginTransmission(slaveAddress);
|
---|
| 480 | for (byte i = 2; i < argc; i += 2) {
|
---|
| 481 | data = argv[i] + (argv[i + 1] << 7);
|
---|
| 482 | wireWrite(data);
|
---|
| 483 | }
|
---|
| 484 | Wire.endTransmission();
|
---|
| 485 | delayMicroseconds(70);
|
---|
| 486 | break;
|
---|
| 487 | case I2C_READ:
|
---|
| 488 | if (argc == 6) {
|
---|
| 489 | // a slave register is specified
|
---|
| 490 | slaveRegister = argv[2] + (argv[3] << 7);
|
---|
| 491 | data = argv[4] + (argv[5] << 7); // bytes to read
|
---|
| 492 | }
|
---|
| 493 | else {
|
---|
| 494 | // a slave register is NOT specified
|
---|
| 495 | slaveRegister = I2C_REGISTER_NOT_SPECIFIED;
|
---|
| 496 | data = argv[2] + (argv[3] << 7); // bytes to read
|
---|
| 497 | }
|
---|
| 498 | readAndReportData(slaveAddress, (int)slaveRegister, data, stopTX);
|
---|
| 499 | break;
|
---|
| 500 | case I2C_READ_CONTINUOUSLY:
|
---|
| 501 | if ((queryIndex + 1) >= I2C_MAX_QUERIES) {
|
---|
| 502 | // too many queries, just ignore
|
---|
| 503 | Firmata.sendString("too many queries");
|
---|
| 504 | break;
|
---|
| 505 | }
|
---|
| 506 | if (argc == 6) {
|
---|
| 507 | // a slave register is specified
|
---|
| 508 | slaveRegister = argv[2] + (argv[3] << 7);
|
---|
| 509 | data = argv[4] + (argv[5] << 7); // bytes to read
|
---|
| 510 | }
|
---|
| 511 | else {
|
---|
| 512 | // a slave register is NOT specified
|
---|
| 513 | slaveRegister = (int)I2C_REGISTER_NOT_SPECIFIED;
|
---|
| 514 | data = argv[2] + (argv[3] << 7); // bytes to read
|
---|
| 515 | }
|
---|
| 516 | queryIndex++;
|
---|
| 517 | query[queryIndex].addr = slaveAddress;
|
---|
| 518 | query[queryIndex].reg = slaveRegister;
|
---|
| 519 | query[queryIndex].bytes = data;
|
---|
| 520 | query[queryIndex].stopTX = stopTX;
|
---|
| 521 | break;
|
---|
| 522 | case I2C_STOP_READING:
|
---|
| 523 | byte queryIndexToSkip;
|
---|
| 524 | // if read continuous mode is enabled for only 1 i2c device, disable
|
---|
| 525 | // read continuous reporting for that device
|
---|
| 526 | if (queryIndex <= 0) {
|
---|
| 527 | queryIndex = -1;
|
---|
| 528 | } else {
|
---|
| 529 | queryIndexToSkip = 0;
|
---|
| 530 | // if read continuous mode is enabled for multiple devices,
|
---|
| 531 | // determine which device to stop reading and remove it's data from
|
---|
| 532 | // the array, shifiting other array data to fill the space
|
---|
| 533 | for (byte i = 0; i < queryIndex + 1; i++) {
|
---|
| 534 | if (query[i].addr == slaveAddress) {
|
---|
| 535 | queryIndexToSkip = i;
|
---|
| 536 | break;
|
---|
| 537 | }
|
---|
| 538 | }
|
---|
| 539 |
|
---|
| 540 | for (byte i = queryIndexToSkip; i < queryIndex + 1; i++) {
|
---|
| 541 | if (i < I2C_MAX_QUERIES) {
|
---|
| 542 | query[i].addr = query[i + 1].addr;
|
---|
| 543 | query[i].reg = query[i + 1].reg;
|
---|
| 544 | query[i].bytes = query[i + 1].bytes;
|
---|
| 545 | query[i].stopTX = query[i + 1].stopTX;
|
---|
| 546 | }
|
---|
| 547 | }
|
---|
| 548 | queryIndex--;
|
---|
| 549 | }
|
---|
| 550 | break;
|
---|
| 551 | default:
|
---|
| 552 | break;
|
---|
| 553 | }
|
---|
| 554 | break;
|
---|
| 555 | case I2C_CONFIG:
|
---|
| 556 | delayTime = (argv[0] + (argv[1] << 7));
|
---|
| 557 |
|
---|
| 558 | if (delayTime > 0) {
|
---|
| 559 | i2cReadDelayTime = delayTime;
|
---|
| 560 | }
|
---|
| 561 |
|
---|
| 562 | if (!isI2CEnabled) {
|
---|
| 563 | enableI2CPins();
|
---|
| 564 | }
|
---|
| 565 |
|
---|
| 566 | break;
|
---|
| 567 | case SERVO_CONFIG:
|
---|
| 568 | if (argc > 4) {
|
---|
| 569 | // these vars are here for clarity, they'll optimized away by the compiler
|
---|
| 570 | byte pin = argv[0];
|
---|
| 571 | int minPulse = argv[1] + (argv[2] << 7);
|
---|
| 572 | int maxPulse = argv[3] + (argv[4] << 7);
|
---|
| 573 |
|
---|
| 574 | if (IS_PIN_DIGITAL(pin)) {
|
---|
| 575 | if (servoPinMap[pin] < MAX_SERVOS && servos[servoPinMap[pin]].attached()) {
|
---|
| 576 | detachServo(pin);
|
---|
| 577 | }
|
---|
| 578 | attachServo(pin, minPulse, maxPulse);
|
---|
| 579 | setPinModeCallback(pin, PIN_MODE_SERVO);
|
---|
| 580 | }
|
---|
| 581 | }
|
---|
| 582 | break;
|
---|
| 583 | case SAMPLING_INTERVAL:
|
---|
| 584 | if (argc > 1) {
|
---|
| 585 | samplingInterval = argv[0] + (argv[1] << 7);
|
---|
| 586 | if (samplingInterval < MINIMUM_SAMPLING_INTERVAL) {
|
---|
| 587 | samplingInterval = MINIMUM_SAMPLING_INTERVAL;
|
---|
| 588 | }
|
---|
| 589 | } else {
|
---|
| 590 | //Firmata.sendString("Not enough data");
|
---|
| 591 | }
|
---|
| 592 | break;
|
---|
| 593 | case EXTENDED_ANALOG:
|
---|
| 594 | if (argc > 1) {
|
---|
| 595 | int val = argv[1];
|
---|
| 596 | if (argc > 2) val |= (argv[2] << 7);
|
---|
| 597 | if (argc > 3) val |= (argv[3] << 14);
|
---|
| 598 | analogWriteCallback(argv[0], val);
|
---|
| 599 | }
|
---|
| 600 | break;
|
---|
| 601 | case CAPABILITY_QUERY:
|
---|
| 602 | Firmata.write(START_SYSEX);
|
---|
| 603 | Firmata.write(CAPABILITY_RESPONSE);
|
---|
| 604 | for (byte pin = 0; pin < TOTAL_PINS; pin++) {
|
---|
| 605 | if (IS_PIN_DIGITAL(pin)) {
|
---|
| 606 | Firmata.write((byte)INPUT);
|
---|
| 607 | Firmata.write(1);
|
---|
| 608 | Firmata.write((byte)PIN_MODE_PULLUP);
|
---|
| 609 | Firmata.write(1);
|
---|
| 610 | Firmata.write((byte)OUTPUT);
|
---|
| 611 | Firmata.write(1);
|
---|
| 612 | }
|
---|
| 613 | if (IS_PIN_ANALOG(pin)) {
|
---|
| 614 | Firmata.write(PIN_MODE_ANALOG);
|
---|
| 615 | Firmata.write(10); // 10 = 10-bit resolution
|
---|
| 616 | }
|
---|
| 617 | if (IS_PIN_PWM(pin)) {
|
---|
| 618 | Firmata.write(PIN_MODE_PWM);
|
---|
| 619 | Firmata.write(8); // 8 = 8-bit resolution
|
---|
| 620 | }
|
---|
| 621 | if (IS_PIN_DIGITAL(pin)) {
|
---|
| 622 | Firmata.write(PIN_MODE_SERVO);
|
---|
| 623 | Firmata.write(14);
|
---|
| 624 | }
|
---|
| 625 | if (IS_PIN_I2C(pin)) {
|
---|
| 626 | Firmata.write(PIN_MODE_I2C);
|
---|
| 627 | Firmata.write(1); // TODO: could assign a number to map to SCL or SDA
|
---|
| 628 | }
|
---|
| 629 | Firmata.write(127);
|
---|
| 630 | }
|
---|
| 631 | Firmata.write(END_SYSEX);
|
---|
| 632 | break;
|
---|
| 633 | case PIN_STATE_QUERY:
|
---|
| 634 | if (argc > 0) {
|
---|
| 635 | byte pin = argv[0];
|
---|
| 636 | Firmata.write(START_SYSEX);
|
---|
| 637 | Firmata.write(PIN_STATE_RESPONSE);
|
---|
| 638 | Firmata.write(pin);
|
---|
| 639 | if (pin < TOTAL_PINS) {
|
---|
| 640 | Firmata.write(Firmata.getPinMode(pin));
|
---|
| 641 | Firmata.write((byte)Firmata.getPinState(pin) & 0x7F);
|
---|
| 642 | if (Firmata.getPinState(pin) & 0xFF80) Firmata.write((byte)(Firmata.getPinState(pin) >> 7) & 0x7F);
|
---|
| 643 | if (Firmata.getPinState(pin) & 0xC000) Firmata.write((byte)(Firmata.getPinState(pin) >> 14) & 0x7F);
|
---|
| 644 | }
|
---|
| 645 | Firmata.write(END_SYSEX);
|
---|
| 646 | }
|
---|
| 647 | break;
|
---|
| 648 | case ANALOG_MAPPING_QUERY:
|
---|
| 649 | Firmata.write(START_SYSEX);
|
---|
| 650 | Firmata.write(ANALOG_MAPPING_RESPONSE);
|
---|
| 651 | for (byte pin = 0; pin < TOTAL_PINS; pin++) {
|
---|
| 652 | Firmata.write(IS_PIN_ANALOG(pin) ? PIN_TO_ANALOG(pin) : 127);
|
---|
| 653 | }
|
---|
| 654 | Firmata.write(END_SYSEX);
|
---|
| 655 | break;
|
---|
| 656 | }
|
---|
| 657 | }
|
---|
| 658 |
|
---|
| 659 | void enableI2CPins()
|
---|
| 660 | {
|
---|
| 661 | byte i;
|
---|
| 662 | // is there a faster way to do this? would probaby require importing
|
---|
| 663 | // Arduino.h to get SCL and SDA pins
|
---|
| 664 | for (i = 0; i < TOTAL_PINS; i++) {
|
---|
| 665 | if (IS_PIN_I2C(i)) {
|
---|
| 666 | // mark pins as i2c so they are ignore in non i2c data requests
|
---|
| 667 | setPinModeCallback(i, PIN_MODE_I2C);
|
---|
| 668 | }
|
---|
| 669 | }
|
---|
| 670 |
|
---|
| 671 | isI2CEnabled = true;
|
---|
| 672 |
|
---|
| 673 | Wire.begin();
|
---|
| 674 | }
|
---|
| 675 |
|
---|
| 676 | /* disable the i2c pins so they can be used for other functions */
|
---|
| 677 | void disableI2CPins() {
|
---|
| 678 | isI2CEnabled = false;
|
---|
| 679 | // disable read continuous mode for all devices
|
---|
| 680 | queryIndex = -1;
|
---|
| 681 | }
|
---|
| 682 |
|
---|
| 683 | /*==============================================================================
|
---|
| 684 | * SETUP()
|
---|
| 685 | *============================================================================*/
|
---|
| 686 |
|
---|
| 687 | void systemResetCallback()
|
---|
| 688 | {
|
---|
| 689 | isResetting = true;
|
---|
| 690 | // initialize a defalt state
|
---|
| 691 | // TODO: option to load config from EEPROM instead of default
|
---|
| 692 | if (isI2CEnabled) {
|
---|
| 693 | disableI2CPins();
|
---|
| 694 | }
|
---|
| 695 |
|
---|
| 696 | for (byte i = 0; i < TOTAL_PORTS; i++) {
|
---|
| 697 | reportPINs[i] = false; // by default, reporting off
|
---|
| 698 | portConfigInputs[i] = 0; // until activated
|
---|
| 699 | previousPINs[i] = 0;
|
---|
| 700 | }
|
---|
| 701 |
|
---|
| 702 | for (byte i = 0; i < TOTAL_PINS; i++) {
|
---|
| 703 | // pins with analog capability default to analog input
|
---|
| 704 | // otherwise, pins default to digital output
|
---|
| 705 | if (IS_PIN_ANALOG(i)) {
|
---|
| 706 | // turns off pullup, configures everything
|
---|
| 707 | setPinModeCallback(i, PIN_MODE_ANALOG);
|
---|
| 708 | } else if (IS_PIN_DIGITAL(i)) {
|
---|
| 709 | // sets the output to 0, configures portConfigInputs
|
---|
| 710 | setPinModeCallback(i, OUTPUT);
|
---|
| 711 | }
|
---|
| 712 |
|
---|
| 713 | servoPinMap[i] = 255;
|
---|
| 714 | }
|
---|
| 715 | // by default, do not report any analog inputs
|
---|
| 716 | analogInputsToReport = 0;
|
---|
| 717 |
|
---|
| 718 | detachedServoCount = 0;
|
---|
| 719 | servoCount = 0;
|
---|
| 720 |
|
---|
| 721 | /* send digital inputs to set the initial state on the host computer,
|
---|
| 722 | * since once in the loop(), this firmware will only send on change */
|
---|
| 723 | /*
|
---|
| 724 | TODO: this can never execute, since no pins default to digital input
|
---|
| 725 | but it will be needed when/if we support EEPROM stored config
|
---|
| 726 | for (byte i=0; i < TOTAL_PORTS; i++) {
|
---|
| 727 | outputPort(i, readPort(i, portConfigInputs[i]), true);
|
---|
| 728 | }
|
---|
| 729 | */
|
---|
| 730 | isResetting = false;
|
---|
| 731 | }
|
---|
| 732 |
|
---|
| 733 | void setup()
|
---|
| 734 | {
|
---|
| 735 | Firmata.setFirmwareVersion(FIRMATA_FIRMWARE_MAJOR_VERSION, FIRMATA_FIRMWARE_MINOR_VERSION);
|
---|
| 736 |
|
---|
| 737 | Firmata.attach(ANALOG_MESSAGE, analogWriteCallback);
|
---|
| 738 | Firmata.attach(DIGITAL_MESSAGE, digitalWriteCallback);
|
---|
| 739 | Firmata.attach(REPORT_ANALOG, reportAnalogCallback);
|
---|
| 740 | Firmata.attach(REPORT_DIGITAL, reportDigitalCallback);
|
---|
| 741 | Firmata.attach(SET_PIN_MODE, setPinModeCallback);
|
---|
| 742 | Firmata.attach(SET_DIGITAL_PIN_VALUE, setPinValueCallback);
|
---|
| 743 | Firmata.attach(START_SYSEX, sysexCallback);
|
---|
| 744 | Firmata.attach(SYSTEM_RESET, systemResetCallback);
|
---|
| 745 |
|
---|
| 746 | /* For chipKIT Pi board, we need to use Serial1. All others just use Serial. */
|
---|
| 747 | #if defined(_BOARD_CHIPKIT_PI_)
|
---|
| 748 | Serial1.begin(57600);
|
---|
| 749 | Firmata.begin(Serial1);
|
---|
| 750 | #else
|
---|
| 751 | Firmata.begin(57600);
|
---|
| 752 | #endif
|
---|
| 753 | systemResetCallback(); // reset to default config
|
---|
| 754 | }
|
---|
| 755 |
|
---|
| 756 | /*==============================================================================
|
---|
| 757 | * LOOP()
|
---|
| 758 | *============================================================================*/
|
---|
| 759 | void loop()
|
---|
| 760 | {
|
---|
| 761 | byte pin, analogPin;
|
---|
| 762 |
|
---|
| 763 | /* DIGITALREAD - as fast as possible, check for changes and output them to the
|
---|
| 764 | * FTDI buffer using Serial.print() */
|
---|
| 765 | checkDigitalInputs();
|
---|
| 766 |
|
---|
| 767 | /* STREAMREAD - processing incoming messagse as soon as possible, while still
|
---|
| 768 | * checking digital inputs. */
|
---|
| 769 | while (Firmata.available())
|
---|
| 770 | Firmata.processInput();
|
---|
| 771 |
|
---|
| 772 | // TODO - ensure that Stream buffer doesn't go over 60 bytes
|
---|
| 773 |
|
---|
| 774 | currentMillis = millis();
|
---|
| 775 | if (currentMillis - previousMillis > samplingInterval) {
|
---|
| 776 | previousMillis += samplingInterval;
|
---|
| 777 | /* ANALOGREAD - do all analogReads() at the configured sampling interval */
|
---|
| 778 | for (pin = 0; pin < TOTAL_PINS; pin++) {
|
---|
| 779 | if (IS_PIN_ANALOG(pin) && Firmata.getPinMode(pin) == PIN_MODE_ANALOG) {
|
---|
| 780 | analogPin = PIN_TO_ANALOG(pin);
|
---|
| 781 | if (analogInputsToReport & (1 << analogPin)) {
|
---|
| 782 | Firmata.sendAnalog(analogPin, analogRead(analogPin));
|
---|
| 783 | }
|
---|
| 784 | }
|
---|
| 785 | }
|
---|
| 786 | // report i2c data for all device with read continuous mode enabled
|
---|
| 787 | if (queryIndex > -1) {
|
---|
| 788 | for (byte i = 0; i < queryIndex + 1; i++) {
|
---|
| 789 | readAndReportData(query[i].addr, query[i].reg, query[i].bytes, query[i].stopTX);
|
---|
| 790 | }
|
---|
| 791 | }
|
---|
| 792 | }
|
---|
| 793 | }
|
---|