mirror of https://github.com/noisymime/Arduino.git
Updating to Firmata rev. 51 (adding OldStandardFirmata and AllInputsFirmata).
This commit is contained in:
parent
298d24ae6b
commit
c450e695ab
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@ -299,7 +299,7 @@ void FirmataClass::sendDigital(byte pin, int value)
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void FirmataClass::sendDigitalPort(byte portNumber, int portData)
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void FirmataClass::sendDigitalPort(byte portNumber, int portData)
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{
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{
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Serial.print(DIGITAL_MESSAGE | (portNumber & 0xF),BYTE);
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Serial.print(DIGITAL_MESSAGE | (portNumber & 0xF),BYTE);
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Serial.print(portData % 128, BYTE); // Tx bits 0-6
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Serial.print((byte)portData % 128, BYTE); // Tx bits 0-6
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Serial.print(portData >> 7, BYTE); // Tx bits 7-13
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Serial.print(portData >> 7, BYTE); // Tx bits 7-13
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}
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}
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@ -76,7 +76,7 @@ extern "C" {
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}
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}
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// TODO make it a subclass of HardwareSerial
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// TODO make it a subclass of a generic Serial/Stream base class
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class FirmataClass
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class FirmataClass
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{
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{
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public:
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public:
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@ -88,27 +88,24 @@ public:
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void printVersion(void);
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void printVersion(void);
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void blinkVersion(void);
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void blinkVersion(void);
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void printFirmwareVersion(void);
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void printFirmwareVersion(void);
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// void setFirmwareVersion(byte major, byte minor); // see macro below
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//void setFirmwareVersion(byte major, byte minor); // see macro below
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void setFirmwareNameAndVersion(const char *name, byte major, byte minor);
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void setFirmwareNameAndVersion(const char *name, byte major, byte minor);
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/* serial receive handling */
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/* serial receive handling */
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int available(void);
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int available(void);
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void processInput(void);
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void processInput(void);
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/* serial send handling */
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/* serial send handling */
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void sendAnalog(byte pin, int value);
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void sendAnalog(byte pin, int value);
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void sendDigital(byte pin, int value);
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void sendDigital(byte pin, int value); // TODO implement this
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void sendDigitalPort(byte portNumber, int portData);
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void sendDigitalPort(byte portNumber, int portData);
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void sendString(const char* string);
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void sendString(const char* string);
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void sendString(byte command, const char* string);
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void sendString(byte command, const char* string);
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void sendSysex(byte command, byte bytec, byte* bytev);
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void sendSysex(byte command, byte bytec, byte* bytev);
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// void print(); // TODO implement so it's compatible to Serial
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// void println(); // TODO implement so it's compatible to Serial
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/* attach & detach callback functions to messages */
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/* attach & detach callback functions to messages */
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void attach(byte command, callbackFunction newFunction);
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void attach(byte command, callbackFunction newFunction);
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void attach(byte command, systemResetCallbackFunction newFunction);
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void attach(byte command, systemResetCallbackFunction newFunction);
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void attach(byte command, stringCallbackFunction newFunction);
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void attach(byte command, stringCallbackFunction newFunction);
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void attach(byte command, sysexCallbackFunction newFunction);
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void attach(byte command, sysexCallbackFunction newFunction);
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void detach(byte command);
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void detach(byte command);
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// void flush(); // TODO implement flush, probably by subclassing
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private:
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private:
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/* firmware name and version */
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/* firmware name and version */
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@ -0,0 +1,71 @@
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/*
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* This firmware reads all inputs and sends them as fast as it can. It was
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* inspired by the ease-of-use of the Arduino2Max program.
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*
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* This example code is in the public domain.
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*/
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#include <Firmata.h>
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byte pin;
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int analogValue;
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int previousAnalogValues[TOTAL_ANALOG_PINS];
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byte portStatus[TOTAL_PORTS];
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byte previousPINs[TOTAL_PORTS];
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/* timer variables */
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unsigned long currentMillis; // store the current value from millis()
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unsigned long nextExecuteMillis; // for comparison with currentMillis
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/* make sure that the FTDI buffer doesn't go over 60 bytes, otherwise you
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get long, random delays. So only read analogs every 20ms or so */
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int samplingInterval = 19; // how often to run the main loop (in ms)
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void sendPort(byte portNumber, byte portValue)
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{
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portValue = portValue &~ portStatus[portNumber];
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if(previousPINs[portNumber] != portValue) {
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Firmata.sendDigitalPort(portNumber, portValue);
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previousPINs[portNumber] = portValue;
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}
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}
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void setup()
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{
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Firmata.setFirmwareVersion(0, 1);
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for(pin = 0; pin < TOTAL_DIGITAL_PINS; pin++) {
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pinMode(pin, INPUT);
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}
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portStatus[0] = B00000011; // ignore Tx/RX pins
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portStatus[1] = B11000000; // ignore 14/15 pins
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portStatus[2] = B00000000;
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Firmata.begin(57600);
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}
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void loop()
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{
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sendPort(0, PIND);
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sendPort(1, PINB);
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sendPort(2, PINC);
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/* make sure that the FTDI buffer doesn't go over 60 bytes, otherwise you
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get long, random delays. So only read analogs every 20ms or so */
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currentMillis = millis();
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if(currentMillis > nextExecuteMillis) {
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nextExecuteMillis = currentMillis + samplingInterval;
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while(Firmata.available()) {
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Firmata.processInput();
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}
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for(pin = 0; pin < TOTAL_ANALOG_PINS; pin++) {
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analogValue = analogRead(pin);
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if(analogValue != previousAnalogValues[pin]) {
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Firmata.sendAnalog(pin, analogValue);
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previousAnalogValues[pin] = analogValue;
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}
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}
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}
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}
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@ -0,0 +1,458 @@
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GNU LESSER GENERAL PUBLIC LICENSE
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Version 2.1, February 1999
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Copyright (C) 1991, 1999 Free Software Foundation, Inc.
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51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
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Everyone is permitted to copy and distribute verbatim copies
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of this license document, but changing it is not allowed.
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[This is the first released version of the Lesser GPL. It also counts
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as the successor of the GNU Library Public License, version 2, hence
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the version number 2.1.]
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Preamble
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The licenses for most software are designed to take away your
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||||||
|
must be distributed under the terms of Sections 1 and 2 above on a
|
||||||
|
medium customarily used for software interchange.
|
||||||
|
|
||||||
|
If distribution of object code is made by offering access to copy
|
||||||
|
from a designated place, then offering equivalent access to copy the
|
||||||
|
source code from the same place satisfies the requirement to
|
||||||
|
distribute the source code, even though third parties are not
|
||||||
|
compelled to copy the source along with the object code.
|
||||||
|
|
||||||
|
5. A program that contains no derivative of any portion of the
|
||||||
|
Library, but is designed to work with the Library by being compiled or
|
||||||
|
linked with it, is called a "work that uses the Library". Such a
|
||||||
|
work, in isolation, is not a derivative work of the Library, and
|
||||||
|
therefore falls outside the scope of this License.
|
||||||
|
|
||||||
|
However, linking a "work that uses the Library" with the Library
|
||||||
|
creates an executable that is a derivative of the Library (because it
|
||||||
|
contains portions of the Library), rather than a "work that uses the
|
||||||
|
library". The executable is therefore covered by this License.
|
||||||
|
Section 6 states terms for distribution of such executables.
|
||||||
|
|
||||||
|
When a "work that uses the Library" uses material from a header file
|
||||||
|
that is part of the Library, the object code for the work may be a
|
||||||
|
derivative work of the Library even though the source code is not.
|
||||||
|
Whether this is true is especially significant if the work can be
|
||||||
|
linked without the Library, or if the work is itself a library. The
|
||||||
|
threshold for this to be true is not precisely defined by law.
|
||||||
|
|
||||||
|
If such an object file uses only numerical parameters, data
|
||||||
|
structure layouts and accessors, and small macros and small inline
|
||||||
|
functions (ten lines or less in length), then the use of the object
|
||||||
|
file is unrestricted, regardless of whether it is legally a derivative
|
||||||
|
work. (Executables containing this object code plus portions of the
|
||||||
|
Library will still fall under Section 6.)
|
||||||
|
|
||||||
|
Otherwise, if the work is a derivative of the Library, you may
|
||||||
|
distribute the object code for the work under the terms of Section 6.
|
||||||
|
Any executables containing that work also fall under Section 6,
|
||||||
|
whether or not they are linked directly with the Library itself.
|
||||||
|
|
||||||
|
6. As an exception to the Sections above, you may also combine or
|
||||||
|
link a "work that uses the Library" with the Library to produce a
|
||||||
|
work containing portions of the Library, and distribute that work
|
||||||
|
under terms of your choice, provided that the terms permit
|
||||||
|
modification of the work for the customer's own use and reverse
|
||||||
|
engineering for debugging such modifications.
|
||||||
|
|
||||||
|
You must give prominent notice with each copy of the work that the
|
||||||
|
Library is used in it and that the Library and its use are covered by
|
||||||
|
this License. You must supply a copy of this License. If the work
|
||||||
|
during execution displays copyright notices, you must include the
|
||||||
|
copyright notice for the Library among them, as well as a reference
|
||||||
|
directing the user to the copy of this License. Also, you must do one
|
||||||
|
of these things:
|
||||||
|
|
||||||
|
a) Accompany the work with the complete corresponding
|
||||||
|
machine-readable source code for the Library including whatever
|
||||||
|
changes were used in the work (which must be distributed under
|
||||||
|
Sections 1 and 2 above); and, if the work is an executable linked
|
||||||
|
with the Library, with the complete machine-readable "work that
|
||||||
|
uses the Library", as object code and/or source code, so that the
|
||||||
|
user can modify the Library and then relink to produce a modified
|
||||||
|
executable containing the modified Library. (It is understood
|
||||||
|
that the user who changes the contents of definitions files in the
|
||||||
|
Library will not necessarily be able to recompile the application
|
||||||
|
to use the modified definitions.)
|
||||||
|
|
||||||
|
b) Use a suitable shared library mechanism for linking with the
|
||||||
|
Library. A suitable mechanism is one that (1) uses at run time a
|
||||||
|
copy of the library already present on the user's computer system,
|
||||||
|
rather than copying library functions into the executable, and (2)
|
||||||
|
will operate properly with a modified version of the library, if
|
||||||
|
the user installs one, as long as the modified version is
|
||||||
|
interface-compatible with the version that the work was made with.
|
||||||
|
|
||||||
|
c) Accompany the work with a written offer, valid for at
|
||||||
|
least three years, to give the same user the materials
|
||||||
|
specified in Subsection 6a, above, for a charge no more
|
||||||
|
than the cost of performing this distribution.
|
||||||
|
|
||||||
|
d) If distribution of the work is made by offering access to copy
|
||||||
|
from a designated place, offer equivalent access to copy the above
|
||||||
|
specified materials from the same place.
|
||||||
|
|
||||||
|
e) Verify that the user has already received a copy of these
|
||||||
|
materials or that you have already sent this user a copy.
|
||||||
|
|
||||||
|
For an executable, the required form of the "work that uses the
|
||||||
|
Library" must include any data and utility programs needed for
|
||||||
|
reproducing the executable from it. However, as a special exception,
|
||||||
|
the materials to be distributed need not include anything that is
|
||||||
|
normally distributed (in either source or binary form) with the major
|
||||||
|
components (compiler, kernel, and so on) of the operating system on
|
||||||
|
which the executable runs, unless that component itself accompanies
|
||||||
|
the executable.
|
||||||
|
|
||||||
|
It may happen that this requirement contradicts the license
|
||||||
|
restrictions of other proprietary libraries that do not normally
|
||||||
|
accompany the operating system. Such a contradiction means you cannot
|
||||||
|
use both them and the Library together in an executable that you
|
||||||
|
distribute.
|
||||||
|
|
||||||
|
7. You may place library facilities that are a work based on the
|
||||||
|
Library side-by-side in a single library together with other library
|
||||||
|
facilities not covered by this License, and distribute such a combined
|
||||||
|
library, provided that the separate distribution of the work based on
|
||||||
|
the Library and of the other library facilities is otherwise
|
||||||
|
permitted, and provided that you do these two things:
|
||||||
|
|
||||||
|
a) Accompany the combined library with a copy of the same work
|
||||||
|
based on the Library, uncombined with any other library
|
||||||
|
facilities. This must be distributed under the terms of the
|
||||||
|
Sections above.
|
||||||
|
|
||||||
|
b) Give prominent notice with the combined library of the fact
|
||||||
|
that part of it is a work based on the Library, and explaining
|
||||||
|
where to find the accompanying uncombined form of the same work.
|
||||||
|
|
||||||
|
8. You may not copy, modify, sublicense, link with, or distribute
|
||||||
|
the Library except as expressly provided under this License. Any
|
||||||
|
attempt otherwise to copy, modify, sublicense, link with, or
|
||||||
|
distribute the Library is void, and will automatically terminate your
|
||||||
|
rights under this License. However, parties who have received copies,
|
||||||
|
or rights, from you under this License will not have their licenses
|
||||||
|
terminated so long as such parties remain in full compliance.
|
||||||
|
|
||||||
|
9. You are not required to accept this License, since you have not
|
||||||
|
signed it. However, nothing else grants you permission to modify or
|
||||||
|
distribute the Library or its derivative works. These actions are
|
||||||
|
prohibited by law if you do not accept this License. Therefore, by
|
||||||
|
modifying or distributing the Library (or any work based on the
|
||||||
|
Library), you indicate your acceptance of this License to do so, and
|
||||||
|
all its terms and conditions for copying, distributing or modifying
|
||||||
|
the Library or works based on it.
|
||||||
|
|
||||||
|
10. Each time you redistribute the Library (or any work based on the
|
||||||
|
Library), the recipient automatically receives a license from the
|
||||||
|
original licensor to copy, distribute, link with or modify the Library
|
||||||
|
subject to these terms and conditions. You may not impose any further
|
||||||
|
restrictions on the recipients' exercise of the rights granted herein.
|
||||||
|
You are not responsible for enforcing compliance by third parties with
|
||||||
|
this License.
|
||||||
|
|
||||||
|
11. If, as a consequence of a court judgment or allegation of patent
|
||||||
|
infringement or for any other reason (not limited to patent issues),
|
||||||
|
conditions are imposed on you (whether by court order, agreement or
|
||||||
|
otherwise) that contradict the conditions of this License, they do not
|
||||||
|
excuse you from the conditions of this License. If you cannot
|
||||||
|
distribute so as to satisfy simultaneously your obligations under this
|
||||||
|
License and any other pertinent obligations, then as a consequence you
|
||||||
|
may not distribute the Library at all. For example, if a patent
|
||||||
|
license would not permit royalty-free redistribution of the Library by
|
||||||
|
all those who receive copies directly or indirectly through you, then
|
||||||
|
the only way you could satisfy both it and this License would be to
|
||||||
|
refrain entirely from distribution of the Library.
|
||||||
|
|
||||||
|
If any portion of this section is held invalid or unenforceable under any
|
||||||
|
particular circumstance, the balance of the section is intended to apply,
|
||||||
|
and the section as a whole is intended to apply in other circumstances.
|
||||||
|
|
||||||
|
It is not the purpose of this section to induce you to infringe any
|
||||||
|
patents or other property right claims or to contest validity of any
|
||||||
|
such claims; this section has the sole purpose of protecting the
|
||||||
|
integrity of the free software distribution system which is
|
||||||
|
implemented by public license practices. Many people have made
|
||||||
|
generous contributions to the wide range of software distributed
|
||||||
|
through that system in reliance on consistent application of that
|
||||||
|
system; it is up to the author/donor to decide if he or she is willing
|
||||||
|
to distribute software through any other system and a licensee cannot
|
||||||
|
impose that choice.
|
||||||
|
|
||||||
|
This section is intended to make thoroughly clear what is believed to
|
||||||
|
be a consequence of the rest of this License.
|
||||||
|
|
||||||
|
12. If the distribution and/or use of the Library is restricted in
|
||||||
|
certain countries either by patents or by copyrighted interfaces, the
|
||||||
|
original copyright holder who places the Library under this License may add
|
||||||
|
an explicit geographical distribution limitation excluding those countries,
|
||||||
|
so that distribution is permitted only in or among countries not thus
|
||||||
|
excluded. In such case, this License incorporates the limitation as if
|
||||||
|
written in the body of this License.
|
||||||
|
|
||||||
|
13. The Free Software Foundation may publish revised and/or new
|
||||||
|
versions of the Lesser General Public License from time to time.
|
||||||
|
Such new versions will be similar in spirit to the present version,
|
||||||
|
but may differ in detail to address new problems or concerns.
|
||||||
|
|
||||||
|
Each version is given a distinguishing version number. If the Library
|
||||||
|
specifies a version number of this License which applies to it and
|
||||||
|
"any later version", you have the option of following the terms and
|
||||||
|
conditions either of that version or of any later version published by
|
||||||
|
the Free Software Foundation. If the Library does not specify a
|
||||||
|
license version number, you may choose any version ever published by
|
||||||
|
the Free Software Foundation.
|
||||||
|
|
||||||
|
14. If you wish to incorporate parts of the Library into other free
|
||||||
|
programs whose distribution conditions are incompatible with these,
|
||||||
|
write to the author to ask for permission. For software which is
|
||||||
|
copyrighted by the Free Software Foundation, write to the Free
|
||||||
|
Software Foundation; we sometimes make exceptions for this. Our
|
||||||
|
decision will be guided by the two goals of preserving the free status
|
||||||
|
of all derivatives of our free software and of promoting the sharing
|
||||||
|
and reuse of software generally.
|
||||||
|
|
||||||
|
NO WARRANTY
|
||||||
|
|
||||||
|
15. BECAUSE THE LIBRARY IS LICENSED FREE OF CHARGE, THERE IS NO
|
||||||
|
WARRANTY FOR THE LIBRARY, TO THE EXTENT PERMITTED BY APPLICABLE LAW.
|
||||||
|
EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT HOLDERS AND/OR
|
||||||
|
OTHER PARTIES PROVIDE THE LIBRARY "AS IS" WITHOUT WARRANTY OF ANY
|
||||||
|
KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, THE
|
||||||
|
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
|
||||||
|
PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE
|
||||||
|
LIBRARY IS WITH YOU. SHOULD THE LIBRARY PROVE DEFECTIVE, YOU ASSUME
|
||||||
|
THE COST OF ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
|
||||||
|
|
||||||
|
16. IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN
|
||||||
|
WRITING WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MAY MODIFY
|
||||||
|
AND/OR REDISTRIBUTE THE LIBRARY AS PERMITTED ABOVE, BE LIABLE TO YOU
|
||||||
|
FOR DAMAGES, INCLUDING ANY GENERAL, SPECIAL, INCIDENTAL OR
|
||||||
|
CONSEQUENTIAL DAMAGES ARISING OUT OF THE USE OR INABILITY TO USE THE
|
||||||
|
LIBRARY (INCLUDING BUT NOT LIMITED TO LOSS OF DATA OR DATA BEING
|
||||||
|
RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD PARTIES OR A
|
||||||
|
FAILURE OF THE LIBRARY TO OPERATE WITH ANY OTHER SOFTWARE), EVEN IF
|
||||||
|
SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH
|
||||||
|
DAMAGES.
|
||||||
|
|
|
@ -0,0 +1,228 @@
|
||||||
|
/*
|
||||||
|
Copyright (C) 2006-2008 Hans-Christoph Steiner. 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
|
||||||
|
License as published by the Free Software Foundation; either
|
||||||
|
version 2.1 of the License, or (at your option) any later version.
|
||||||
|
|
||||||
|
See file LICENSE.txt for further informations on licensing terms.
|
||||||
|
*/
|
||||||
|
|
||||||
|
/*
|
||||||
|
* This is an old version of StandardFirmata (v2.0). It is kept here because
|
||||||
|
* its the last version that works on an ATMEGA8 chip. Also, it can be used
|
||||||
|
* for host software that has not been updated to a newer version of the
|
||||||
|
* protocol. It also uses the old baud rate of 115200 rather than 57600.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include <EEPROM.h>
|
||||||
|
#include <Firmata.h>
|
||||||
|
|
||||||
|
/*==============================================================================
|
||||||
|
* GLOBAL VARIABLES
|
||||||
|
*============================================================================*/
|
||||||
|
|
||||||
|
/* analog inputs */
|
||||||
|
int analogInputsToReport = 0; // bitwise array to store pin reporting
|
||||||
|
int analogPin = 0; // counter for reading analog pins
|
||||||
|
|
||||||
|
/* digital pins */
|
||||||
|
byte reportPINs[TOTAL_PORTS]; // PIN == input port
|
||||||
|
byte previousPINs[TOTAL_PORTS]; // PIN == input port
|
||||||
|
byte pinStatus[TOTAL_DIGITAL_PINS]; // store pin status, default OUTPUT
|
||||||
|
byte portStatus[TOTAL_PORTS];
|
||||||
|
|
||||||
|
/* timer variables */
|
||||||
|
unsigned long currentMillis; // store the current value from millis()
|
||||||
|
unsigned long nextExecuteMillis; // for comparison with currentMillis
|
||||||
|
|
||||||
|
|
||||||
|
/*==============================================================================
|
||||||
|
* FUNCTIONS
|
||||||
|
*============================================================================*/
|
||||||
|
|
||||||
|
void outputPort(byte portNumber, byte portValue)
|
||||||
|
{
|
||||||
|
portValue = portValue &~ portStatus[portNumber];
|
||||||
|
if(previousPINs[portNumber] != portValue) {
|
||||||
|
Firmata.sendDigitalPort(portNumber, portValue);
|
||||||
|
previousPINs[portNumber] = portValue;
|
||||||
|
Firmata.sendDigitalPort(portNumber, portValue);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
/* -----------------------------------------------------------------------------
|
||||||
|
* check all the active digital inputs for change of state, then add any events
|
||||||
|
* to the Serial output queue using Serial.print() */
|
||||||
|
void checkDigitalInputs(void)
|
||||||
|
{
|
||||||
|
byte i, tmp;
|
||||||
|
for(i=0; i < TOTAL_PORTS; i++) {
|
||||||
|
if(reportPINs[i]) {
|
||||||
|
switch(i) {
|
||||||
|
case 0: outputPort(0, PIND &~ B00000011); break; // ignore Rx/Tx 0/1
|
||||||
|
case 1: outputPort(1, PINB); break;
|
||||||
|
case ANALOG_PORT: outputPort(ANALOG_PORT, PINC); break;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// -----------------------------------------------------------------------------
|
||||||
|
/* sets the pin mode to the correct state and sets the relevant bits in the
|
||||||
|
* two bit-arrays that track Digital I/O and PWM status
|
||||||
|
*/
|
||||||
|
void setPinModeCallback(byte pin, int mode) {
|
||||||
|
byte port = 0;
|
||||||
|
byte offset = 0;
|
||||||
|
|
||||||
|
if (pin < 8) {
|
||||||
|
port = 0;
|
||||||
|
offset = 0;
|
||||||
|
} else if (pin < 14) {
|
||||||
|
port = 1;
|
||||||
|
offset = 8;
|
||||||
|
} else if (pin < 22) {
|
||||||
|
port = 2;
|
||||||
|
offset = 14;
|
||||||
|
}
|
||||||
|
|
||||||
|
if(pin > 1) { // ignore RxTx (pins 0 and 1)
|
||||||
|
pinStatus[pin] = mode;
|
||||||
|
switch(mode) {
|
||||||
|
case INPUT:
|
||||||
|
pinMode(pin, INPUT);
|
||||||
|
portStatus[port] = portStatus[port] &~ (1 << (pin - offset));
|
||||||
|
break;
|
||||||
|
case OUTPUT:
|
||||||
|
digitalWrite(pin, LOW); // disable PWM
|
||||||
|
case PWM:
|
||||||
|
pinMode(pin, OUTPUT);
|
||||||
|
portStatus[port] = portStatus[port] | (1 << (pin - offset));
|
||||||
|
break;
|
||||||
|
//case ANALOG: // TODO figure this out
|
||||||
|
default:
|
||||||
|
Firmata.sendString("");
|
||||||
|
}
|
||||||
|
// TODO: save status to EEPROM here, if changed
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
void analogWriteCallback(byte pin, int value)
|
||||||
|
{
|
||||||
|
setPinModeCallback(pin,PWM);
|
||||||
|
analogWrite(pin, value);
|
||||||
|
}
|
||||||
|
|
||||||
|
void digitalWriteCallback(byte port, int value)
|
||||||
|
{
|
||||||
|
switch(port) {
|
||||||
|
case 0: // pins 2-7 (don't change Rx/Tx, pins 0 and 1)
|
||||||
|
// 0xFF03 == B1111111100000011 0x03 == B00000011
|
||||||
|
PORTD = (value &~ 0xFF03) | (PORTD & 0x03);
|
||||||
|
break;
|
||||||
|
case 1: // pins 8-13 (14,15 are disabled for the crystal)
|
||||||
|
PORTB = (byte)value;
|
||||||
|
break;
|
||||||
|
case 2: // analog pins used as digital
|
||||||
|
PORTC = (byte)value;
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// -----------------------------------------------------------------------------
|
||||||
|
/* sets bits in a bit array (int) to toggle the reporting of the analogIns
|
||||||
|
*/
|
||||||
|
//void FirmataClass::setAnalogPinReporting(byte pin, byte state) {
|
||||||
|
//}
|
||||||
|
void reportAnalogCallback(byte pin, int value)
|
||||||
|
{
|
||||||
|
if(value == 0) {
|
||||||
|
analogInputsToReport = analogInputsToReport &~ (1 << pin);
|
||||||
|
}
|
||||||
|
else { // everything but 0 enables reporting of that pin
|
||||||
|
analogInputsToReport = analogInputsToReport | (1 << pin);
|
||||||
|
}
|
||||||
|
// TODO: save status to EEPROM here, if changed
|
||||||
|
}
|
||||||
|
|
||||||
|
void reportDigitalCallback(byte port, int value)
|
||||||
|
{
|
||||||
|
reportPINs[port] = (byte)value;
|
||||||
|
if(port == ANALOG_PORT) // turn off analog reporting when used as digital
|
||||||
|
analogInputsToReport = 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
/*==============================================================================
|
||||||
|
* SETUP()
|
||||||
|
*============================================================================*/
|
||||||
|
void setup()
|
||||||
|
{
|
||||||
|
byte i;
|
||||||
|
|
||||||
|
Firmata.setFirmwareVersion(2, 0);
|
||||||
|
|
||||||
|
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);
|
||||||
|
|
||||||
|
portStatus[0] = B00000011; // ignore Tx/RX pins
|
||||||
|
portStatus[1] = B11000000; // ignore 14/15 pins
|
||||||
|
portStatus[2] = B00000000;
|
||||||
|
|
||||||
|
// for(i=0; i<TOTAL_DIGITAL_PINS; ++i) { // TODO make this work with analogs
|
||||||
|
for(i=0; i<14; ++i) {
|
||||||
|
setPinModeCallback(i,OUTPUT);
|
||||||
|
}
|
||||||
|
// set all outputs to 0 to make sure internal pull-up resistors are off
|
||||||
|
PORTB = 0; // pins 8-15
|
||||||
|
PORTC = 0; // analog port
|
||||||
|
PORTD = 0; // pins 0-7
|
||||||
|
|
||||||
|
// TODO rethink the init, perhaps it should report analog on default
|
||||||
|
for(i=0; i<TOTAL_PORTS; ++i) {
|
||||||
|
reportPINs[i] = false;
|
||||||
|
}
|
||||||
|
// TODO: load state from EEPROM here
|
||||||
|
|
||||||
|
/* send digital inputs here, if enabled, to set the initial state on the
|
||||||
|
* host computer, since once in the loop(), this firmware will only send
|
||||||
|
* digital data on change. */
|
||||||
|
if(reportPINs[0]) outputPort(0, PIND &~ B00000011); // ignore Rx/Tx 0/1
|
||||||
|
if(reportPINs[1]) outputPort(1, PINB);
|
||||||
|
if(reportPINs[ANALOG_PORT]) outputPort(ANALOG_PORT, PINC);
|
||||||
|
|
||||||
|
Firmata.begin(115200);
|
||||||
|
}
|
||||||
|
|
||||||
|
/*==============================================================================
|
||||||
|
* LOOP()
|
||||||
|
*============================================================================*/
|
||||||
|
void loop()
|
||||||
|
{
|
||||||
|
/* DIGITALREAD - as fast as possible, check for changes and output them to the
|
||||||
|
* FTDI buffer using Serial.print() */
|
||||||
|
checkDigitalInputs();
|
||||||
|
currentMillis = millis();
|
||||||
|
if(currentMillis > nextExecuteMillis) {
|
||||||
|
nextExecuteMillis = currentMillis + 19; // run this every 20ms
|
||||||
|
/* SERIALREAD - Serial.read() uses a 128 byte circular buffer, so handle
|
||||||
|
* all serialReads at once, i.e. empty the buffer */
|
||||||
|
while(Firmata.available())
|
||||||
|
Firmata.processInput();
|
||||||
|
/* SEND FTDI WRITE BUFFER - make sure that the FTDI buffer doesn't go over
|
||||||
|
* 60 bytes. use a timer to sending an event character every 4 ms to
|
||||||
|
* trigger the buffer to dump. */
|
||||||
|
|
||||||
|
/* ANALOGREAD - right after the event character, do all of the
|
||||||
|
* analogReads(). These only need to be done every 4ms. */
|
||||||
|
for(analogPin=0;analogPin<TOTAL_ANALOG_PINS;analogPin++) {
|
||||||
|
if( analogInputsToReport & (1 << analogPin) ) {
|
||||||
|
Firmata.sendAnalog(analogPin, analogRead(analogPin));
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
|
@ -13,7 +13,6 @@ void outputPort(byte portNumber, byte portValue)
|
||||||
if(previousPIN[portNumber] != portValue) {
|
if(previousPIN[portNumber] != portValue) {
|
||||||
Firmata.sendDigitalPort(portNumber, portValue);
|
Firmata.sendDigitalPort(portNumber, portValue);
|
||||||
previousPIN[portNumber] = portValue;
|
previousPIN[portNumber] = portValue;
|
||||||
Firmata.sendDigitalPort(portNumber, portValue);
|
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
|
@ -49,7 +49,6 @@ void outputPort(byte portNumber, byte portValue)
|
||||||
if(previousPINs[portNumber] != portValue) {
|
if(previousPINs[portNumber] != portValue) {
|
||||||
Firmata.sendDigitalPort(portNumber, portValue);
|
Firmata.sendDigitalPort(portNumber, portValue);
|
||||||
previousPINs[portNumber] = portValue;
|
previousPINs[portNumber] = portValue;
|
||||||
Firmata.sendDigitalPort(portNumber, portValue);
|
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
@ -280,8 +279,7 @@ void setup()
|
||||||
*============================================================================*/
|
*============================================================================*/
|
||||||
void loop()
|
void loop()
|
||||||
{
|
{
|
||||||
/* DIGITALREAD - as fast as possible, check for changes and output them to the
|
/* DIGITALREAD - as fast as possible, check for changes and output them */
|
||||||
* FTDI buffer using Serial.print() */
|
|
||||||
checkDigitalInputs();
|
checkDigitalInputs();
|
||||||
currentMillis = millis();
|
currentMillis = millis();
|
||||||
if(currentMillis > nextExecuteMillis) {
|
if(currentMillis > nextExecuteMillis) {
|
||||||
|
@ -291,11 +289,10 @@ void loop()
|
||||||
while(Firmata.available())
|
while(Firmata.available())
|
||||||
Firmata.processInput();
|
Firmata.processInput();
|
||||||
/* SEND FTDI WRITE BUFFER - make sure that the FTDI buffer doesn't go over
|
/* SEND FTDI WRITE BUFFER - make sure that the FTDI buffer doesn't go over
|
||||||
* 60 bytes. use a timer to sending an event character every 4 ms to
|
* 60 bytes. Ideally this could send an "event character" every 4 ms to
|
||||||
* trigger the buffer to dump. */
|
* trigger the buffer to dump. */
|
||||||
|
|
||||||
/* ANALOGREAD - right after the event character, do all of the
|
/* ANALOGREAD - do all of the analogReads() once per poll cycle */
|
||||||
* analogReads(). These only need to be done every 4ms. */
|
|
||||||
for(analogPin=0;analogPin<TOTAL_ANALOG_PINS;analogPin++) {
|
for(analogPin=0;analogPin<TOTAL_ANALOG_PINS;analogPin++) {
|
||||||
if( analogInputsToReport & (1 << analogPin) ) {
|
if( analogInputsToReport & (1 << analogPin) ) {
|
||||||
Firmata.sendAnalog(analogPin, analogRead(analogPin));
|
Firmata.sendAnalog(analogPin, analogRead(analogPin));
|
||||||
|
|
Loading…
Reference in New Issue