mirror of https://github.com/noisymime/Arduino.git
Updating to Firmata r82 (e.g. including I2C in StandardFirmata).
http://code.google.com/p/arduino/issues/detail?id=633
This commit is contained in:
David A. Mellis
parent
5ba38fa9bd
commit
b722028c7b
|
|
@ -124,6 +124,10 @@ writePort(port, value, bitmask): Write an 8 bit port.
|
|||
* Board Specific Configuration
|
||||
*============================================================================*/
|
||||
|
||||
#ifndef digitalPinHasPWM
|
||||
#define digitalPinHasPWM(p) IS_PIN_DIGITAL(p)
|
||||
#endif
|
||||
|
||||
// Arduino Duemilanove, Diecimila, and NG
|
||||
#if defined(__AVR_ATmega168__) || defined(__AVR_ATmega328P__)
|
||||
#if defined(NUM_ANALOG_INPUTS) && NUM_ANALOG_INPUTS == 6
|
||||
|
|
@ -136,7 +140,7 @@ writePort(port, value, bitmask): Write an 8 bit port.
|
|||
#define VERSION_BLINK_PIN 13
|
||||
#define IS_PIN_DIGITAL(p) ((p) >= 2 && (p) <= 19)
|
||||
#define IS_PIN_ANALOG(p) ((p) >= 14 && (p) < 14 + TOTAL_ANALOG_PINS)
|
||||
#define IS_PIN_PWM(p) IS_PIN_DIGITAL(p)
|
||||
#define IS_PIN_PWM(p) digitalPinHasPWM(p)
|
||||
#define IS_PIN_SERVO(p) (IS_PIN_DIGITAL(p) && (p) - 2 < MAX_SERVOS)
|
||||
#define IS_PIN_I2C(p) ((p) == 18 || (p) == 19)
|
||||
#define PIN_TO_DIGITAL(p) (p)
|
||||
|
|
@ -151,7 +155,7 @@ writePort(port, value, bitmask): Write an 8 bit port.
|
|||
#define VERSION_BLINK_PIN WLED
|
||||
#define IS_PIN_DIGITAL(p) ((p) >= 0 && (p) < TOTAL_PINS)
|
||||
#define IS_PIN_ANALOG(p) ((p) >= FIRST_ANALOG_PIN && (p) < (FIRST_ANALOG_PIN+TOTAL_ANALOG_PINS))
|
||||
#define IS_PIN_PWM(p) IS_PIN_DIGITAL(p)
|
||||
#define IS_PIN_PWM(p) digitalPinHasPWM(p)
|
||||
#define IS_PIN_SERVO(p) ((p) >= 0 && (p) < MAX_SERVOS)
|
||||
#define IS_PIN_I2C(p) ((p) == SDA || (p) == SCL)
|
||||
#define PIN_TO_DIGITAL(p) (p)
|
||||
|
|
@ -167,7 +171,7 @@ writePort(port, value, bitmask): Write an 8 bit port.
|
|||
#define VERSION_BLINK_PIN 13
|
||||
#define IS_PIN_DIGITAL(p) ((p) >= 2 && (p) <= 19)
|
||||
#define IS_PIN_ANALOG(p) ((p) >= 14 && (p) <= 19)
|
||||
#define IS_PIN_PWM(p) IS_PIN_DIGITAL(p)
|
||||
#define IS_PIN_PWM(p) digitalPinHasPWM(p)
|
||||
#define IS_PIN_SERVO(p) (IS_PIN_DIGITAL(p) && (p) - 2 < MAX_SERVOS)
|
||||
#define IS_PIN_I2C(p) ((p) == 18 || (p) == 19)
|
||||
#define PIN_TO_DIGITAL(p) (p)
|
||||
|
|
@ -178,13 +182,13 @@ writePort(port, value, bitmask): Write an 8 bit port.
|
|||
|
||||
|
||||
// Arduino Mega
|
||||
#elif defined(__AVR_ATmega1280__)
|
||||
#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
|
||||
#define TOTAL_ANALOG_PINS 16
|
||||
#define TOTAL_PINS 70 // 54 digital + 16 analog
|
||||
#define VERSION_BLINK_PIN 13
|
||||
#define IS_PIN_DIGITAL(p) ((p) >= 2 && (p) < TOTAL_PINS)
|
||||
#define IS_PIN_ANALOG(p) ((p) >= 54 && (p) < TOTAL_PINS)
|
||||
#define IS_PIN_PWM(p) IS_PIN_DIGITAL(p)
|
||||
#define IS_PIN_PWM(p) digitalPinHasPWM(p)
|
||||
#define IS_PIN_SERVO(p) ((p) >= 2 && (p) - 2 < MAX_SERVOS)
|
||||
#define IS_PIN_I2C(p) ((p) == 20 || (p) == 21)
|
||||
#define PIN_TO_DIGITAL(p) (p)
|
||||
|
|
@ -200,7 +204,7 @@ writePort(port, value, bitmask): Write an 8 bit port.
|
|||
#define VERSION_BLINK_PIN 6
|
||||
#define IS_PIN_DIGITAL(p) ((p) >= 0 && (p) < TOTAL_PINS)
|
||||
#define IS_PIN_ANALOG(p) (0)
|
||||
#define IS_PIN_PWM(p) IS_PIN_DIGITAL(p)
|
||||
#define IS_PIN_PWM(p) digitalPinHasPWM(p)
|
||||
#define IS_PIN_SERVO(p) ((p) >= 0 && (p) < MAX_SERVOS)
|
||||
#define IS_PIN_I2C(p) (0)
|
||||
#define PIN_TO_DIGITAL(p) (p)
|
||||
|
|
@ -216,7 +220,7 @@ writePort(port, value, bitmask): Write an 8 bit port.
|
|||
#define VERSION_BLINK_PIN 11
|
||||
#define IS_PIN_DIGITAL(p) ((p) >= 0 && (p) < TOTAL_PINS)
|
||||
#define IS_PIN_ANALOG(p) ((p) >= 11 && (p) <= 22)
|
||||
#define IS_PIN_PWM(p) IS_PIN_DIGITAL(p)
|
||||
#define IS_PIN_PWM(p) digitalPinHasPWM(p)
|
||||
#define IS_PIN_SERVO(p) ((p) >= 0 && (p) < MAX_SERVOS)
|
||||
#define IS_PIN_I2C(p) ((p) == 5 || (p) == 6)
|
||||
#define PIN_TO_DIGITAL(p) (p)
|
||||
|
|
@ -232,7 +236,7 @@ writePort(port, value, bitmask): Write an 8 bit port.
|
|||
#define VERSION_BLINK_PIN 6
|
||||
#define IS_PIN_DIGITAL(p) ((p) >= 0 && (p) < TOTAL_PINS)
|
||||
#define IS_PIN_ANALOG(p) ((p) >= 38 && (p) < TOTAL_PINS)
|
||||
#define IS_PIN_PWM(p) IS_PIN_DIGITAL(p)
|
||||
#define IS_PIN_PWM(p) digitalPinHasPWM(p)
|
||||
#define IS_PIN_SERVO(p) ((p) >= 0 && (p) < MAX_SERVOS)
|
||||
#define IS_PIN_I2C(p) ((p) == 0 || (p) == 1)
|
||||
#define PIN_TO_DIGITAL(p) (p)
|
||||
|
|
@ -248,7 +252,7 @@ writePort(port, value, bitmask): Write an 8 bit port.
|
|||
#define VERSION_BLINK_PIN 0
|
||||
#define IS_PIN_DIGITAL(p) ((p) >= 2 && (p) < TOTAL_PINS)
|
||||
#define IS_PIN_ANALOG(p) ((p) >= 24 && (p) < TOTAL_PINS)
|
||||
#define IS_PIN_PWM(p) IS_PIN_DIGITAL(p)
|
||||
#define IS_PIN_PWM(p) digitalPinHasPWM(p)
|
||||
#define IS_PIN_SERVO(p) ((p) >= 0 && (p) < MAX_SERVOS)
|
||||
#define IS_PIN_I2C(p) ((p) == 16 || (p) == 17)
|
||||
#define PIN_TO_DIGITAL(p) (p)
|
||||
|
|
@ -264,7 +268,7 @@ writePort(port, value, bitmask): Write an 8 bit port.
|
|||
#define VERSION_BLINK_PIN 13
|
||||
#define IS_PIN_DIGITAL(p) ((p) >= 2 && (p) < TOTAL_PINS)
|
||||
#define IS_PIN_ANALOG(p) ((p) >= 36 && (p) < TOTAL_PINS)
|
||||
#define IS_PIN_PWM(p) IS_PIN_DIGITAL(p)
|
||||
#define IS_PIN_PWM(p) digitalPinHasPWM(p)
|
||||
#define IS_PIN_SERVO(p) ((p) >= 0 && (p) < MAX_SERVOS)
|
||||
#define IS_PIN_I2C(p) ((p) == 4 || (p) == 5)
|
||||
#define PIN_TO_DIGITAL(p) (p)
|
||||
|
|
|
|||
|
|
@ -68,7 +68,6 @@ void FirmataClass::begin(long speed)
|
|||
Serial.begin(speed);
|
||||
FirmataSerial = Serial;
|
||||
blinkVersion();
|
||||
delay(300);
|
||||
printVersion();
|
||||
printFirmwareVersion();
|
||||
}
|
||||
|
|
@ -92,11 +91,10 @@ void FirmataClass::blinkVersion(void)
|
|||
{
|
||||
// flash the pin with the protocol version
|
||||
pinMode(VERSION_BLINK_PIN,OUTPUT);
|
||||
pin13strobe(FIRMATA_MAJOR_VERSION, 200, 400);
|
||||
delay(300);
|
||||
pin13strobe(2,1,4); // separator, a quick burst
|
||||
delay(300);
|
||||
pin13strobe(FIRMATA_MINOR_VERSION, 200, 400);
|
||||
pin13strobe(FIRMATA_MAJOR_VERSION, 40, 210);
|
||||
delay(250);
|
||||
pin13strobe(FIRMATA_MINOR_VERSION, 40, 210);
|
||||
delay(125);
|
||||
}
|
||||
|
||||
void FirmataClass::printFirmwareVersion(void)
|
||||
|
|
|
|||
|
|
@ -1,3 +1,14 @@
|
|||
/*
|
||||
* Firmata is a generic protocol for communicating with microcontrollers
|
||||
* from software on a host computer. It is intended to work with
|
||||
* any host computer software package.
|
||||
*
|
||||
* To download a host software package, please clink on the following link
|
||||
* to open the download page in your default browser.
|
||||
*
|
||||
* http://firmata.org/wiki/Download
|
||||
*/
|
||||
|
||||
/*
|
||||
* This firmware reads all inputs and sends them as fast as it can. It was
|
||||
* inspired by the ease-of-use of the Arduino2Max program.
|
||||
|
|
|
|||
|
|
@ -1,3 +1,14 @@
|
|||
/*
|
||||
* Firmata is a generic protocol for communicating with microcontrollers
|
||||
* from software on a host computer. It is intended to work with
|
||||
* any host computer software package.
|
||||
*
|
||||
* To download a host software package, please clink on the following link
|
||||
* to open the download page in your default browser.
|
||||
*
|
||||
* http://firmata.org/wiki/Download
|
||||
*/
|
||||
|
||||
/* This firmware supports as many analog ports as possible, all analog inputs,
|
||||
* four PWM outputs, and two with servo support.
|
||||
*
|
||||
|
|
|
|||
|
|
@ -1,3 +1,14 @@
|
|||
/*
|
||||
* Firmata is a generic protocol for communicating with microcontrollers
|
||||
* from software on a host computer. It is intended to work with
|
||||
* any host computer software package.
|
||||
*
|
||||
* To download a host software package, please clink on the following link
|
||||
* to open the download page in your default browser.
|
||||
*
|
||||
* http://firmata.org/wiki/Download
|
||||
*/
|
||||
|
||||
/* This sketch accepts strings and raw sysex messages and echos them back.
|
||||
*
|
||||
* This example code is in the public domain.
|
||||
|
|
|
|||
|
|
@ -1,3 +1,14 @@
|
|||
/*
|
||||
* Firmata is a generic protocol for communicating with microcontrollers
|
||||
* from software on a host computer. It is intended to work with
|
||||
* any host computer software package.
|
||||
*
|
||||
* To download a host software package, please clink on the following link
|
||||
* to open the download page in your default browser.
|
||||
*
|
||||
* http://firmata.org/wiki/Download
|
||||
*/
|
||||
|
||||
/*
|
||||
Copyright (C) 2009 Jeff Hoefs. All rights reserved.
|
||||
Copyright (C) 2009 Shigeru Kobayashi. All rights reserved.
|
||||
|
|
|
|||
|
|
@ -1,3 +1,14 @@
|
|||
/*
|
||||
* Firmata is a generic protocol for communicating with microcontrollers
|
||||
* from software on a host computer. It is intended to work with
|
||||
* any host computer software package.
|
||||
*
|
||||
* To download a host software package, please clink on the following link
|
||||
* to open the download page in your default browser.
|
||||
*
|
||||
* http://firmata.org/wiki/Download
|
||||
*/
|
||||
|
||||
/*
|
||||
Copyright (C) 2006-2008 Hans-Christoph Steiner. All rights reserved.
|
||||
|
||||
|
|
|
|||
|
|
@ -1,3 +1,14 @@
|
|||
/*
|
||||
* Firmata is a generic protocol for communicating with microcontrollers
|
||||
* from software on a host computer. It is intended to work with
|
||||
* any host computer software package.
|
||||
*
|
||||
* To download a host software package, please clink on the following link
|
||||
* to open the download page in your default browser.
|
||||
*
|
||||
* http://firmata.org/wiki/Download
|
||||
*/
|
||||
|
||||
/* This firmware supports as many servos as possible using the Servo library
|
||||
* included in Arduino 0017
|
||||
*
|
||||
|
|
|
|||
|
|
@ -1,3 +1,14 @@
|
|||
/*
|
||||
* Firmata is a generic protocol for communicating with microcontrollers
|
||||
* from software on a host computer. It is intended to work with
|
||||
* any host computer software package.
|
||||
*
|
||||
* To download a host software package, please clink on the following link
|
||||
* to open the download page in your default browser.
|
||||
*
|
||||
* http://firmata.org/wiki/Download
|
||||
*/
|
||||
|
||||
/* Supports as many analog inputs and analog PWM outputs as possible.
|
||||
*
|
||||
* This example code is in the public domain.
|
||||
|
|
|
|||
|
|
@ -1,3 +1,14 @@
|
|||
/*
|
||||
* Firmata is a generic protocol for communicating with microcontrollers
|
||||
* from software on a host computer. It is intended to work with
|
||||
* any host computer software package.
|
||||
*
|
||||
* To download a host software package, please clink on the following link
|
||||
* to open the download page in your default browser.
|
||||
*
|
||||
* http://firmata.org/wiki/Download
|
||||
*/
|
||||
|
||||
/* Supports as many digital inputs and outputs as possible.
|
||||
*
|
||||
* This example code is in the public domain.
|
||||
|
|
|
|||
|
|
@ -1,5 +1,19 @@
|
|||
/*
|
||||
* Firmata is a generic protocol for communicating with microcontrollers
|
||||
* from software on a host computer. It is intended to work with
|
||||
* any host computer software package.
|
||||
*
|
||||
* To download a host software package, please clink on the following link
|
||||
* to open the download page in your default browser.
|
||||
*
|
||||
* http://firmata.org/wiki/Download
|
||||
*/
|
||||
|
||||
/*
|
||||
Copyright (C) 2006-2008 Hans-Christoph Steiner. All rights reserved.
|
||||
Copyright (C) 2010-2011 Paul Stoffregen. All rights reserved.
|
||||
Copyright (C) 2009 Shigeru Kobayashi. All rights reserved.
|
||||
Copyright (C) 2009-2011 Jeff Hoefs. All rights reserved.
|
||||
|
||||
This library is free software; you can redistribute it and/or
|
||||
modify it under the terms of the GNU Lesser General Public
|
||||
|
|
@ -16,8 +30,22 @@
|
|||
*/
|
||||
|
||||
#include <Servo.h>
|
||||
#include <Wire.h>
|
||||
#include <Firmata.h>
|
||||
|
||||
// move the following defines to Firmata.h?
|
||||
#define I2C_WRITE B00000000
|
||||
#define I2C_READ B00001000
|
||||
#define I2C_READ_CONTINUOUSLY B00010000
|
||||
#define I2C_STOP_READING B00011000
|
||||
#define I2C_READ_WRITE_MODE_MASK B00011000
|
||||
#define I2C_10BIT_ADDRESS_MODE_MASK B00100000
|
||||
|
||||
#define MAX_QUERIES 8
|
||||
#define MINIMUM_SAMPLING_INTERVAL 10
|
||||
|
||||
#define REGISTER_NOT_SPECIFIED -1
|
||||
|
||||
/*==============================================================================
|
||||
* GLOBAL VARIABLES
|
||||
*============================================================================*/
|
||||
|
|
@ -39,12 +67,69 @@ unsigned long currentMillis; // store the current value from millis()
|
|||
unsigned long previousMillis; // for comparison with currentMillis
|
||||
int samplingInterval = 19; // how often to run the main loop (in ms)
|
||||
|
||||
Servo servos[MAX_SERVOS];
|
||||
/* i2c data */
|
||||
struct i2c_device_info {
|
||||
byte addr;
|
||||
byte reg;
|
||||
byte bytes;
|
||||
};
|
||||
|
||||
/* for i2c read continuous more */
|
||||
i2c_device_info query[MAX_QUERIES];
|
||||
|
||||
byte i2cRxData[32];
|
||||
boolean isI2CEnabled = false;
|
||||
signed char queryIndex = -1;
|
||||
unsigned int i2cReadDelayTime = 0; // default delay time between i2c read request and Wire.requestFrom()
|
||||
|
||||
Servo servos[MAX_SERVOS];
|
||||
/*==============================================================================
|
||||
* FUNCTIONS
|
||||
*============================================================================*/
|
||||
|
||||
void readAndReportData(byte address, int theRegister, byte numBytes) {
|
||||
// allow I2C requests that don't require a register read
|
||||
// for example, some devices using an interrupt pin to signify new data available
|
||||
// do not always require the register read so upon interrupt you call Wire.requestFrom()
|
||||
if (theRegister != REGISTER_NOT_SPECIFIED) {
|
||||
Wire.beginTransmission(address);
|
||||
#if ARDUINO >= 100
|
||||
Wire.write((byte)theRegister);
|
||||
#else
|
||||
Wire.send((byte)theRegister);
|
||||
#endif
|
||||
Wire.endTransmission();
|
||||
delayMicroseconds(i2cReadDelayTime); // delay is necessary for some devices such as WiiNunchuck
|
||||
} else {
|
||||
theRegister = 0; // fill the register with a dummy value
|
||||
}
|
||||
|
||||
Wire.requestFrom(address, numBytes); // all bytes are returned in requestFrom
|
||||
|
||||
// check to be sure correct number of bytes were returned by slave
|
||||
if(numBytes == Wire.available()) {
|
||||
i2cRxData[0] = address;
|
||||
i2cRxData[1] = theRegister;
|
||||
for (int i = 0; i < numBytes; i++) {
|
||||
#if ARDUINO >= 100
|
||||
i2cRxData[2 + i] = Wire.read();
|
||||
#else
|
||||
i2cRxData[2 + i] = Wire.receive();
|
||||
#endif
|
||||
}
|
||||
}
|
||||
else {
|
||||
if(numBytes > Wire.available()) {
|
||||
Firmata.sendString("I2C Read Error: Too many bytes received");
|
||||
} else {
|
||||
Firmata.sendString("I2C Read Error: Too few bytes received");
|
||||
}
|
||||
}
|
||||
|
||||
// send slave address, register and received bytes
|
||||
Firmata.sendSysex(SYSEX_I2C_REPLY, numBytes + 2, i2cRxData);
|
||||
}
|
||||
|
||||
void outputPort(byte portNumber, byte portValue, byte forceSend)
|
||||
{
|
||||
// pins not configured as INPUT are cleared to zeros
|
||||
|
|
@ -88,6 +173,11 @@ void checkDigitalInputs(void)
|
|||
*/
|
||||
void setPinModeCallback(byte pin, int mode)
|
||||
{
|
||||
if (pinConfig[pin] == I2C && isI2CEnabled && mode != I2C) {
|
||||
// disable i2c so pins can be used for other functions
|
||||
// the following if statements should reconfigure the pins properly
|
||||
disableI2CPins();
|
||||
}
|
||||
if (IS_PIN_SERVO(pin) && mode != SERVO && servos[PIN_TO_SERVO(pin)].attached()) {
|
||||
servos[PIN_TO_SERVO(pin)].detach();
|
||||
}
|
||||
|
|
@ -138,14 +228,15 @@ void setPinModeCallback(byte pin, int mode)
|
|||
pinConfig[pin] = SERVO;
|
||||
if (!servos[PIN_TO_SERVO(pin)].attached()) {
|
||||
servos[PIN_TO_SERVO(pin)].attach(PIN_TO_DIGITAL(pin));
|
||||
} else {
|
||||
Firmata.sendString("Servo only on pins from 2 to 13");
|
||||
}
|
||||
}
|
||||
break;
|
||||
case I2C:
|
||||
pinConfig[pin] = mode;
|
||||
Firmata.sendString("I2C mode not yet supported");
|
||||
if (IS_PIN_I2C(pin)) {
|
||||
// mark the pin as i2c
|
||||
// the user must call I2C_CONFIG to enable I2C for a device
|
||||
pinConfig[pin] = I2C;
|
||||
}
|
||||
break;
|
||||
default:
|
||||
Firmata.sendString("Unknown pin mode"); // TODO: put error msgs in EEPROM
|
||||
|
|
@ -232,7 +323,104 @@ void reportDigitalCallback(byte port, int value)
|
|||
|
||||
void sysexCallback(byte command, byte argc, byte *argv)
|
||||
{
|
||||
byte mode;
|
||||
byte slaveAddress;
|
||||
byte slaveRegister;
|
||||
byte data;
|
||||
unsigned int delayTime;
|
||||
|
||||
switch(command) {
|
||||
case I2C_REQUEST:
|
||||
mode = argv[1] & I2C_READ_WRITE_MODE_MASK;
|
||||
if (argv[1] & I2C_10BIT_ADDRESS_MODE_MASK) {
|
||||
Firmata.sendString("10-bit addressing mode is not yet supported");
|
||||
return;
|
||||
}
|
||||
else {
|
||||
slaveAddress = argv[0];
|
||||
}
|
||||
|
||||
switch(mode) {
|
||||
case I2C_WRITE:
|
||||
Wire.beginTransmission(slaveAddress);
|
||||
for (byte i = 2; i < argc; i += 2) {
|
||||
data = argv[i] + (argv[i + 1] << 7);
|
||||
#if ARDUINO >= 100
|
||||
Wire.write(data);
|
||||
#else
|
||||
Wire.send(data);
|
||||
#endif
|
||||
}
|
||||
Wire.endTransmission();
|
||||
delayMicroseconds(70);
|
||||
break;
|
||||
case I2C_READ:
|
||||
if (argc == 6) {
|
||||
// a slave register is specified
|
||||
slaveRegister = argv[2] + (argv[3] << 7);
|
||||
data = argv[4] + (argv[5] << 7); // bytes to read
|
||||
readAndReportData(slaveAddress, (int)slaveRegister, data);
|
||||
}
|
||||
else {
|
||||
// a slave register is NOT specified
|
||||
data = argv[2] + (argv[3] << 7); // bytes to read
|
||||
readAndReportData(slaveAddress, (int)REGISTER_NOT_SPECIFIED, data);
|
||||
}
|
||||
break;
|
||||
case I2C_READ_CONTINUOUSLY:
|
||||
if ((queryIndex + 1) >= MAX_QUERIES) {
|
||||
// too many queries, just ignore
|
||||
Firmata.sendString("too many queries");
|
||||
break;
|
||||
}
|
||||
queryIndex++;
|
||||
query[queryIndex].addr = slaveAddress;
|
||||
query[queryIndex].reg = argv[2] + (argv[3] << 7);
|
||||
query[queryIndex].bytes = argv[4] + (argv[5] << 7);
|
||||
break;
|
||||
case I2C_STOP_READING:
|
||||
byte queryIndexToSkip;
|
||||
// if read continuous mode is enabled for only 1 i2c device, disable
|
||||
// read continuous reporting for that device
|
||||
if (queryIndex <= 0) {
|
||||
queryIndex = -1;
|
||||
} else {
|
||||
// if read continuous mode is enabled for multiple devices,
|
||||
// determine which device to stop reading and remove it's data from
|
||||
// the array, shifiting other array data to fill the space
|
||||
for (byte i = 0; i < queryIndex + 1; i++) {
|
||||
if (query[i].addr = slaveAddress) {
|
||||
queryIndexToSkip = i;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
for (byte i = queryIndexToSkip; i<queryIndex + 1; i++) {
|
||||
if (i < MAX_QUERIES) {
|
||||
query[i].addr = query[i+1].addr;
|
||||
query[i].reg = query[i+1].addr;
|
||||
query[i].bytes = query[i+1].bytes;
|
||||
}
|
||||
}
|
||||
queryIndex--;
|
||||
}
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
break;
|
||||
case I2C_CONFIG:
|
||||
delayTime = (argv[0] + (argv[1] << 7));
|
||||
|
||||
if(delayTime > 0) {
|
||||
i2cReadDelayTime = delayTime;
|
||||
}
|
||||
|
||||
if (!isI2CEnabled) {
|
||||
enableI2CPins();
|
||||
}
|
||||
|
||||
break;
|
||||
case SERVO_CONFIG:
|
||||
if(argc > 4) {
|
||||
// these vars are here for clarity, they'll optimized away by the compiler
|
||||
|
|
@ -241,7 +429,6 @@ void sysexCallback(byte command, byte argc, byte *argv)
|
|||
int maxPulse = argv[3] + (argv[4] << 7);
|
||||
|
||||
if (IS_PIN_SERVO(pin)) {
|
||||
// servos are pins from 2 to 13, so offset for array
|
||||
if (servos[PIN_TO_SERVO(pin)].attached())
|
||||
servos[PIN_TO_SERVO(pin)].detach();
|
||||
servos[PIN_TO_SERVO(pin)].attach(PIN_TO_DIGITAL(pin), minPulse, maxPulse);
|
||||
|
|
@ -250,10 +437,14 @@ void sysexCallback(byte command, byte argc, byte *argv)
|
|||
}
|
||||
break;
|
||||
case SAMPLING_INTERVAL:
|
||||
if (argc > 1)
|
||||
if (argc > 1) {
|
||||
samplingInterval = argv[0] + (argv[1] << 7);
|
||||
else
|
||||
Firmata.sendString("Not enough data");
|
||||
if (samplingInterval < MINIMUM_SAMPLING_INTERVAL) {
|
||||
samplingInterval = MINIMUM_SAMPLING_INTERVAL;
|
||||
}
|
||||
} else {
|
||||
//Firmata.sendString("Not enough data");
|
||||
}
|
||||
break;
|
||||
case EXTENDED_ANALOG:
|
||||
if (argc > 1) {
|
||||
|
|
@ -285,6 +476,10 @@ void sysexCallback(byte command, byte argc, byte *argv)
|
|||
Serial.write(SERVO);
|
||||
Serial.write(14);
|
||||
}
|
||||
if (IS_PIN_I2C(pin)) {
|
||||
Serial.write(I2C);
|
||||
Serial.write(1); // to do: determine appropriate value
|
||||
}
|
||||
Serial.write(127);
|
||||
}
|
||||
Serial.write(END_SYSEX);
|
||||
|
|
@ -315,33 +510,52 @@ void sysexCallback(byte command, byte argc, byte *argv)
|
|||
}
|
||||
}
|
||||
|
||||
void enableI2CPins()
|
||||
{
|
||||
byte i;
|
||||
// is there a faster way to do this? would probaby require importing
|
||||
// Arduino.h to get SCL and SDA pins
|
||||
for (i=0; i < TOTAL_PINS; i++) {
|
||||
if(IS_PIN_I2C(i)) {
|
||||
// mark pins as i2c so they are ignore in non i2c data requests
|
||||
setPinModeCallback(i, I2C);
|
||||
}
|
||||
}
|
||||
|
||||
isI2CEnabled = true;
|
||||
|
||||
// is there enough time before the first I2C request to call this here?
|
||||
Wire.begin();
|
||||
}
|
||||
|
||||
/* disable the i2c pins so they can be used for other functions */
|
||||
void disableI2CPins() {
|
||||
isI2CEnabled = false;
|
||||
// disable read continuous mode for all devices
|
||||
queryIndex = -1;
|
||||
// uncomment the following if or when the end() method is added to Wire library
|
||||
// Wire.end();
|
||||
}
|
||||
|
||||
/*==============================================================================
|
||||
* SETUP()
|
||||
*============================================================================*/
|
||||
void setup()
|
||||
|
||||
void systemResetCallback()
|
||||
{
|
||||
byte i;
|
||||
|
||||
Firmata.setFirmwareVersion(FIRMATA_MAJOR_VERSION, FIRMATA_MINOR_VERSION);
|
||||
|
||||
Firmata.attach(ANALOG_MESSAGE, analogWriteCallback);
|
||||
Firmata.attach(DIGITAL_MESSAGE, digitalWriteCallback);
|
||||
Firmata.attach(REPORT_ANALOG, reportAnalogCallback);
|
||||
Firmata.attach(REPORT_DIGITAL, reportDigitalCallback);
|
||||
Firmata.attach(SET_PIN_MODE, setPinModeCallback);
|
||||
Firmata.attach(START_SYSEX, sysexCallback);
|
||||
|
||||
// TODO: load state from EEPROM here
|
||||
|
||||
/* these are initialized to zero by the compiler startup code
|
||||
for (i=0; i < TOTAL_PORTS; i++) {
|
||||
reportPINs[i] = false;
|
||||
portConfigInputs[i] = 0;
|
||||
// initialize a defalt state
|
||||
// TODO: option to load config from EEPROM instead of default
|
||||
if (isI2CEnabled) {
|
||||
disableI2CPins();
|
||||
}
|
||||
for (byte i=0; i < TOTAL_PORTS; i++) {
|
||||
reportPINs[i] = false; // by default, reporting off
|
||||
portConfigInputs[i] = 0; // until activated
|
||||
previousPINs[i] = 0;
|
||||
}
|
||||
*/
|
||||
for (i=0; i < TOTAL_PINS; i++) {
|
||||
// pins with analog capability default to analog input
|
||||
// otherwise, pins default to digital output
|
||||
for (byte i=0; i < TOTAL_PINS; i++) {
|
||||
if (IS_PIN_ANALOG(i)) {
|
||||
// turns off pullup, configures everything
|
||||
setPinModeCallback(i, ANALOG);
|
||||
|
|
@ -350,16 +564,34 @@ void setup()
|
|||
setPinModeCallback(i, OUTPUT);
|
||||
}
|
||||
}
|
||||
// by defult, do not report any analog inputs
|
||||
// by default, do not report any analog inputs
|
||||
analogInputsToReport = 0;
|
||||
|
||||
Firmata.begin(57600);
|
||||
|
||||
/* send digital inputs to set the initial state on the host computer,
|
||||
* since once in the loop(), this firmware will only send on change */
|
||||
for (i=0; i < TOTAL_PORTS; i++) {
|
||||
/*
|
||||
TODO: this can never execute, since no pins default to digital input
|
||||
but it will be needed when/if we support EEPROM stored config
|
||||
for (byte i=0; i < TOTAL_PORTS; i++) {
|
||||
outputPort(i, readPort(i, portConfigInputs[i]), true);
|
||||
}
|
||||
*/
|
||||
}
|
||||
|
||||
void setup()
|
||||
{
|
||||
Firmata.setFirmwareVersion(FIRMATA_MAJOR_VERSION, FIRMATA_MINOR_VERSION);
|
||||
|
||||
Firmata.attach(ANALOG_MESSAGE, analogWriteCallback);
|
||||
Firmata.attach(DIGITAL_MESSAGE, digitalWriteCallback);
|
||||
Firmata.attach(REPORT_ANALOG, reportAnalogCallback);
|
||||
Firmata.attach(REPORT_DIGITAL, reportDigitalCallback);
|
||||
Firmata.attach(SET_PIN_MODE, setPinModeCallback);
|
||||
Firmata.attach(START_SYSEX, sysexCallback);
|
||||
Firmata.attach(SYSTEM_RESET, systemResetCallback);
|
||||
|
||||
Firmata.begin(57600);
|
||||
systemResetCallback(); // reset to default config
|
||||
}
|
||||
|
||||
/*==============================================================================
|
||||
|
|
@ -394,5 +626,11 @@ void loop()
|
|||
}
|
||||
}
|
||||
}
|
||||
// report i2c data for all device with read continuous mode enabled
|
||||
if (queryIndex > -1) {
|
||||
for (byte i = 0; i < queryIndex + 1; i++) {
|
||||
readAndReportData(query[i].addr, query[i].reg, query[i].bytes);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue