updated Firmata library to version 2.3.5 and moved to the new library format
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/* Boards.h - Hardware Abstraction Layer for Firmata library */
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#ifndef Firmata_Boards_h
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#define Firmata_Boards_h
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#include <inttypes.h>
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#if defined(ARDUINO) && ARDUINO >= 100
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#include "Arduino.h" // for digitalRead, digitalWrite, etc
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#else
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#include "WProgram.h"
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#endif
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// Normally Servo.h must be included before Firmata.h (which then includes
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// this file). If Servo.h wasn't included, this allows the code to still
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// compile, but without support for any Servos. Hopefully that's what the
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// user intended by not including Servo.h
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#ifndef MAX_SERVOS
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#define MAX_SERVOS 0
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#endif
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/*
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Firmata Hardware Abstraction Layer
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Firmata is built on top of the hardware abstraction functions of Arduino,
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specifically digitalWrite, digitalRead, analogWrite, analogRead, and
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pinMode. While these functions offer simple integer pin numbers, Firmata
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needs more information than is provided by Arduino. This file provides
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all other hardware specific details. To make Firmata support a new board,
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only this file should require editing.
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The key concept is every "pin" implemented by Firmata may be mapped to
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any pin as implemented by Arduino. Usually a simple 1-to-1 mapping is
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best, but such mapping should not be assumed. This hardware abstraction
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layer allows Firmata to implement any number of pins which map onto the
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Arduino implemented pins in almost any arbitrary way.
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General Constants:
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These constants provide basic information Firmata requires.
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TOTAL_PINS: The total number of pins Firmata implemented by Firmata.
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Usually this will match the number of pins the Arduino functions
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implement, including any pins pins capable of analog or digital.
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However, Firmata may implement any number of pins. For example,
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on Arduino Mini with 8 analog inputs, 6 of these may be used
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for digital functions, and 2 are analog only. On such boards,
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Firmata can implement more pins than Arduino's pinMode()
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function, in order to accommodate those special pins. The
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Firmata protocol supports a maximum of 128 pins, so this
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constant must not exceed 128.
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TOTAL_ANALOG_PINS: The total number of analog input pins implemented.
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The Firmata protocol allows up to 16 analog inputs, accessed
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using offsets 0 to 15. Because Firmata presents the analog
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inputs using different offsets than the actual pin numbers
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(a legacy of Arduino's analogRead function, and the way the
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analog input capable pins are physically labeled on all
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Arduino boards), the total number of analog input signals
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must be specified. 16 is the maximum.
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VERSION_BLINK_PIN: When Firmata starts up, it will blink the version
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number. This constant is the Arduino pin number where a
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LED is connected.
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Pin Mapping Macros:
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These macros provide the mapping between pins as implemented by
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Firmata protocol and the actual pin numbers used by the Arduino
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functions. Even though such mappings are often simple, pin
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numbers received by Firmata protocol should always be used as
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input to these macros, and the result of the macro should be
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used with with any Arduino function.
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When Firmata is extended to support a new pin mode or feature,
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a pair of macros should be added and used for all hardware
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access. For simple 1:1 mapping, these macros add no actual
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overhead, yet their consistent use allows source code which
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uses them consistently to be easily adapted to all other boards
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with different requirements.
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IS_PIN_XXXX(pin): The IS_PIN macros resolve to true or non-zero
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if a pin as implemented by Firmata corresponds to a pin
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that actually implements the named feature.
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PIN_TO_XXXX(pin): The PIN_TO macros translate pin numbers as
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implemented by Firmata to the pin numbers needed as inputs
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to the Arduino functions. The corresponding IS_PIN macro
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should always be tested before using a PIN_TO macro, so
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these macros only need to handle valid Firmata pin
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numbers for the named feature.
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Port Access Inline Funtions:
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For efficiency, Firmata protocol provides access to digital
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input and output pins grouped by 8 bit ports. When these
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groups of 8 correspond to actual 8 bit ports as implemented
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by the hardware, these inline functions can provide high
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speed direct port access. Otherwise, a default implementation
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using 8 calls to digitalWrite or digitalRead is used.
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When porting Firmata to a new board, it is recommended to
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use the default functions first and focus only on the constants
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and macros above. When those are working, if optimized port
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access is desired, these inline functions may be extended.
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The recommended approach defines a symbol indicating which
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optimization to use, and then conditional complication is
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used within these functions.
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readPort(port, bitmask): Read an 8 bit port, returning the value.
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port: The port number, Firmata pins port*8 to port*8+7
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bitmask: The actual pins to read, indicated by 1 bits.
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writePort(port, value, bitmask): Write an 8 bit port.
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port: The port number, Firmata pins port*8 to port*8+7
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value: The 8 bit value to write
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bitmask: The actual pins to write, indicated by 1 bits.
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*/
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/*==============================================================================
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* Board Specific Configuration
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*============================================================================*/
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#ifndef digitalPinHasPWM
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#define digitalPinHasPWM(p) IS_PIN_DIGITAL(p)
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#endif
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// Arduino Duemilanove, Diecimila, and NG
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#if defined(__AVR_ATmega168__) || defined(__AVR_ATmega328P__)
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#if defined(NUM_ANALOG_INPUTS) && NUM_ANALOG_INPUTS == 6
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#define TOTAL_ANALOG_PINS 6
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#define TOTAL_PINS 20 // 14 digital + 6 analog
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#else
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#define TOTAL_ANALOG_PINS 8
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#define TOTAL_PINS 22 // 14 digital + 8 analog
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#endif
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#define VERSION_BLINK_PIN 13
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#define IS_PIN_DIGITAL(p) ((p) >= 2 && (p) <= 19)
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#define IS_PIN_ANALOG(p) ((p) >= 14 && (p) < 14 + TOTAL_ANALOG_PINS)
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#define IS_PIN_PWM(p) digitalPinHasPWM(p)
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#define IS_PIN_SERVO(p) (IS_PIN_DIGITAL(p) && (p) - 2 < MAX_SERVOS)
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#define IS_PIN_I2C(p) ((p) == 18 || (p) == 19)
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#define PIN_TO_DIGITAL(p) (p)
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#define PIN_TO_ANALOG(p) ((p) - 14)
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#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p)
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#define PIN_TO_SERVO(p) ((p) - 2)
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#define ARDUINO_PINOUT_OPTIMIZE 1
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// Wiring (and board)
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#elif defined(WIRING)
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#define VERSION_BLINK_PIN WLED
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#define IS_PIN_DIGITAL(p) ((p) >= 0 && (p) < TOTAL_PINS)
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#define IS_PIN_ANALOG(p) ((p) >= FIRST_ANALOG_PIN && (p) < (FIRST_ANALOG_PIN+TOTAL_ANALOG_PINS))
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#define IS_PIN_PWM(p) digitalPinHasPWM(p)
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#define IS_PIN_SERVO(p) ((p) >= 0 && (p) < MAX_SERVOS)
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#define IS_PIN_I2C(p) ((p) == SDA || (p) == SCL)
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#define PIN_TO_DIGITAL(p) (p)
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#define PIN_TO_ANALOG(p) ((p) - FIRST_ANALOG_PIN)
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#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p)
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#define PIN_TO_SERVO(p) (p)
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// old Arduinos
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#elif defined(__AVR_ATmega8__)
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#define TOTAL_ANALOG_PINS 6
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#define TOTAL_PINS 20 // 14 digital + 6 analog
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#define VERSION_BLINK_PIN 13
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#define IS_PIN_DIGITAL(p) ((p) >= 2 && (p) <= 19)
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#define IS_PIN_ANALOG(p) ((p) >= 14 && (p) <= 19)
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#define IS_PIN_PWM(p) digitalPinHasPWM(p)
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#define IS_PIN_SERVO(p) (IS_PIN_DIGITAL(p) && (p) - 2 < MAX_SERVOS)
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#define IS_PIN_I2C(p) ((p) == 18 || (p) == 19)
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#define PIN_TO_DIGITAL(p) (p)
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#define PIN_TO_ANALOG(p) ((p) - 14)
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#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p)
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#define PIN_TO_SERVO(p) ((p) - 2)
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#define ARDUINO_PINOUT_OPTIMIZE 1
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// Arduino Mega
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#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
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#define TOTAL_ANALOG_PINS 16
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#define TOTAL_PINS 70 // 54 digital + 16 analog
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#define VERSION_BLINK_PIN 13
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#define IS_PIN_DIGITAL(p) ((p) >= 2 && (p) < TOTAL_PINS)
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#define IS_PIN_ANALOG(p) ((p) >= 54 && (p) < TOTAL_PINS)
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#define IS_PIN_PWM(p) digitalPinHasPWM(p)
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#define IS_PIN_SERVO(p) ((p) >= 2 && (p) - 2 < MAX_SERVOS)
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#define IS_PIN_I2C(p) ((p) == 20 || (p) == 21)
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#define PIN_TO_DIGITAL(p) (p)
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#define PIN_TO_ANALOG(p) ((p) - 54)
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#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p)
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#define PIN_TO_SERVO(p) ((p) - 2)
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// Teensy 1.0
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#elif defined(__AVR_AT90USB162__)
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#define TOTAL_ANALOG_PINS 0
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#define TOTAL_PINS 21 // 21 digital + no analog
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#define VERSION_BLINK_PIN 6
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#define IS_PIN_DIGITAL(p) ((p) >= 0 && (p) < TOTAL_PINS)
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#define IS_PIN_ANALOG(p) (0)
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#define IS_PIN_PWM(p) digitalPinHasPWM(p)
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#define IS_PIN_SERVO(p) ((p) >= 0 && (p) < MAX_SERVOS)
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#define IS_PIN_I2C(p) (0)
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#define PIN_TO_DIGITAL(p) (p)
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#define PIN_TO_ANALOG(p) (0)
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#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p)
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#define PIN_TO_SERVO(p) (p)
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// Teensy 2.0
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#elif defined(__AVR_ATmega32U4__)
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#define TOTAL_ANALOG_PINS 12
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#define TOTAL_PINS 25 // 11 digital + 12 analog
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#define VERSION_BLINK_PIN 11
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#define IS_PIN_DIGITAL(p) ((p) >= 0 && (p) < TOTAL_PINS)
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#define IS_PIN_ANALOG(p) ((p) >= 11 && (p) <= 22)
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#define IS_PIN_PWM(p) digitalPinHasPWM(p)
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#define IS_PIN_SERVO(p) ((p) >= 0 && (p) < MAX_SERVOS)
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#define IS_PIN_I2C(p) ((p) == 5 || (p) == 6)
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#define PIN_TO_DIGITAL(p) (p)
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#define PIN_TO_ANALOG(p) (((p)<22)?21-(p):11)
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#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p)
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#define PIN_TO_SERVO(p) (p)
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// Teensy++ 1.0 and 2.0
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#elif defined(__AVR_AT90USB646__) || defined(__AVR_AT90USB1286__)
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#define TOTAL_ANALOG_PINS 8
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#define TOTAL_PINS 46 // 38 digital + 8 analog
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#define VERSION_BLINK_PIN 6
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#define IS_PIN_DIGITAL(p) ((p) >= 0 && (p) < TOTAL_PINS)
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#define IS_PIN_ANALOG(p) ((p) >= 38 && (p) < TOTAL_PINS)
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#define IS_PIN_PWM(p) digitalPinHasPWM(p)
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#define IS_PIN_SERVO(p) ((p) >= 0 && (p) < MAX_SERVOS)
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#define IS_PIN_I2C(p) ((p) == 0 || (p) == 1)
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#define PIN_TO_DIGITAL(p) (p)
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#define PIN_TO_ANALOG(p) ((p) - 38)
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#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p)
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#define PIN_TO_SERVO(p) (p)
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// Sanguino
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#elif defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644__)
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#define TOTAL_ANALOG_PINS 8
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#define TOTAL_PINS 32 // 24 digital + 8 analog
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#define VERSION_BLINK_PIN 0
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#define IS_PIN_DIGITAL(p) ((p) >= 2 && (p) < TOTAL_PINS)
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#define IS_PIN_ANALOG(p) ((p) >= 24 && (p) < TOTAL_PINS)
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#define IS_PIN_PWM(p) digitalPinHasPWM(p)
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#define IS_PIN_SERVO(p) ((p) >= 0 && (p) < MAX_SERVOS)
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#define IS_PIN_I2C(p) ((p) == 16 || (p) == 17)
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#define PIN_TO_DIGITAL(p) (p)
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#define PIN_TO_ANALOG(p) ((p) - 24)
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#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p)
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#define PIN_TO_SERVO(p) ((p) - 2)
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// Illuminato
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#elif defined(__AVR_ATmega645__)
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#define TOTAL_ANALOG_PINS 6
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#define TOTAL_PINS 42 // 36 digital + 6 analog
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#define VERSION_BLINK_PIN 13
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#define IS_PIN_DIGITAL(p) ((p) >= 2 && (p) < TOTAL_PINS)
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#define IS_PIN_ANALOG(p) ((p) >= 36 && (p) < TOTAL_PINS)
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#define IS_PIN_PWM(p) digitalPinHasPWM(p)
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#define IS_PIN_SERVO(p) ((p) >= 0 && (p) < MAX_SERVOS)
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#define IS_PIN_I2C(p) ((p) == 4 || (p) == 5)
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#define PIN_TO_DIGITAL(p) (p)
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#define PIN_TO_ANALOG(p) ((p) - 36)
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#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p)
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#define PIN_TO_SERVO(p) ((p) - 2)
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// anything else
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#else
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#error "Please edit Boards.h with a hardware abstraction for this board"
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#endif
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/*==============================================================================
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* readPort() - Read an 8 bit port
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*============================================================================*/
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static inline unsigned char readPort(byte, byte) __attribute__((always_inline, unused));
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static inline unsigned char readPort(byte port, byte bitmask)
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{
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#if defined(ARDUINO_PINOUT_OPTIMIZE)
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if (port == 0) return (PIND & 0xFC) & bitmask; // ignore Rx/Tx 0/1
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if (port == 1) return ((PINB & 0x3F) | ((PINC & 0x03) << 6)) & bitmask;
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if (port == 2) return ((PINC & 0x3C) >> 2) & bitmask;
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return 0;
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#else
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unsigned char out=0, pin=port*8;
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if (IS_PIN_DIGITAL(pin+0) && (bitmask & 0x01) && digitalRead(PIN_TO_DIGITAL(pin+0))) out |= 0x01;
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if (IS_PIN_DIGITAL(pin+1) && (bitmask & 0x02) && digitalRead(PIN_TO_DIGITAL(pin+1))) out |= 0x02;
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if (IS_PIN_DIGITAL(pin+2) && (bitmask & 0x04) && digitalRead(PIN_TO_DIGITAL(pin+2))) out |= 0x04;
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if (IS_PIN_DIGITAL(pin+3) && (bitmask & 0x08) && digitalRead(PIN_TO_DIGITAL(pin+3))) out |= 0x08;
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if (IS_PIN_DIGITAL(pin+4) && (bitmask & 0x10) && digitalRead(PIN_TO_DIGITAL(pin+4))) out |= 0x10;
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if (IS_PIN_DIGITAL(pin+5) && (bitmask & 0x20) && digitalRead(PIN_TO_DIGITAL(pin+5))) out |= 0x20;
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if (IS_PIN_DIGITAL(pin+6) && (bitmask & 0x40) && digitalRead(PIN_TO_DIGITAL(pin+6))) out |= 0x40;
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if (IS_PIN_DIGITAL(pin+7) && (bitmask & 0x80) && digitalRead(PIN_TO_DIGITAL(pin+7))) out |= 0x80;
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return out;
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#endif
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}
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/*==============================================================================
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* writePort() - Write an 8 bit port, only touch pins specified by a bitmask
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*============================================================================*/
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static inline unsigned char writePort(byte, byte, byte) __attribute__((always_inline, unused));
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static inline unsigned char writePort(byte port, byte value, byte bitmask)
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{
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#if defined(ARDUINO_PINOUT_OPTIMIZE)
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|
||||||
if (port == 0) {
|
|
||||||
bitmask = bitmask & 0xFC; // do not touch Tx & Rx pins
|
|
||||||
byte valD = value & bitmask;
|
|
||||||
byte maskD = ~bitmask;
|
|
||||||
cli();
|
|
||||||
PORTD = (PORTD & maskD) | valD;
|
|
||||||
sei();
|
|
||||||
} else if (port == 1) {
|
|
||||||
byte valB = (value & bitmask) & 0x3F;
|
|
||||||
byte valC = (value & bitmask) >> 6;
|
|
||||||
byte maskB = ~(bitmask & 0x3F);
|
|
||||||
byte maskC = ~((bitmask & 0xC0) >> 6);
|
|
||||||
cli();
|
|
||||||
PORTB = (PORTB & maskB) | valB;
|
|
||||||
PORTC = (PORTC & maskC) | valC;
|
|
||||||
sei();
|
|
||||||
} else if (port == 2) {
|
|
||||||
bitmask = bitmask & 0x0F;
|
|
||||||
byte valC = (value & bitmask) << 2;
|
|
||||||
byte maskC = ~(bitmask << 2);
|
|
||||||
cli();
|
|
||||||
PORTC = (PORTC & maskC) | valC;
|
|
||||||
sei();
|
|
||||||
}
|
|
||||||
#else
|
|
||||||
byte pin=port*8;
|
|
||||||
if ((bitmask & 0x01)) digitalWrite(PIN_TO_DIGITAL(pin+0), (value & 0x01));
|
|
||||||
if ((bitmask & 0x02)) digitalWrite(PIN_TO_DIGITAL(pin+1), (value & 0x02));
|
|
||||||
if ((bitmask & 0x04)) digitalWrite(PIN_TO_DIGITAL(pin+2), (value & 0x04));
|
|
||||||
if ((bitmask & 0x08)) digitalWrite(PIN_TO_DIGITAL(pin+3), (value & 0x08));
|
|
||||||
if ((bitmask & 0x10)) digitalWrite(PIN_TO_DIGITAL(pin+4), (value & 0x10));
|
|
||||||
if ((bitmask & 0x20)) digitalWrite(PIN_TO_DIGITAL(pin+5), (value & 0x20));
|
|
||||||
if ((bitmask & 0x40)) digitalWrite(PIN_TO_DIGITAL(pin+6), (value & 0x40));
|
|
||||||
if ((bitmask & 0x80)) digitalWrite(PIN_TO_DIGITAL(pin+7), (value & 0x80));
|
|
||||||
#endif
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
#ifndef TOTAL_PORTS
|
|
||||||
#define TOTAL_PORTS ((TOTAL_PINS + 7) / 8)
|
|
||||||
#endif
|
|
||||||
|
|
||||||
|
|
||||||
#endif /* Firmata_Boards_h */
|
|
||||||
|
|
||||||
|
|
@ -1,444 +0,0 @@
|
||||||
/*
|
|
||||||
Firmata.cpp - Firmata library
|
|
||||||
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.
|
|
||||||
*/
|
|
||||||
|
|
||||||
//******************************************************************************
|
|
||||||
//* Includes
|
|
||||||
//******************************************************************************
|
|
||||||
|
|
||||||
#include "Firmata.h"
|
|
||||||
#include "HardwareSerial.h"
|
|
||||||
|
|
||||||
extern "C" {
|
|
||||||
#include <string.h>
|
|
||||||
#include <stdlib.h>
|
|
||||||
}
|
|
||||||
|
|
||||||
//******************************************************************************
|
|
||||||
//* Support Functions
|
|
||||||
//******************************************************************************
|
|
||||||
|
|
||||||
void FirmataClass::sendValueAsTwo7bitBytes(int value)
|
|
||||||
{
|
|
||||||
FirmataSerial.write(value & B01111111); // LSB
|
|
||||||
FirmataSerial.write(value >> 7 & B01111111); // MSB
|
|
||||||
}
|
|
||||||
|
|
||||||
void FirmataClass::startSysex(void)
|
|
||||||
{
|
|
||||||
FirmataSerial.write(START_SYSEX);
|
|
||||||
}
|
|
||||||
|
|
||||||
void FirmataClass::endSysex(void)
|
|
||||||
{
|
|
||||||
FirmataSerial.write(END_SYSEX);
|
|
||||||
}
|
|
||||||
|
|
||||||
//******************************************************************************
|
|
||||||
//* Constructors
|
|
||||||
//******************************************************************************
|
|
||||||
|
|
||||||
FirmataClass::FirmataClass(Stream &s) : FirmataSerial(s)
|
|
||||||
{
|
|
||||||
firmwareVersionCount = 0;
|
|
||||||
systemReset();
|
|
||||||
}
|
|
||||||
|
|
||||||
//******************************************************************************
|
|
||||||
//* Public Methods
|
|
||||||
//******************************************************************************
|
|
||||||
|
|
||||||
/* begin method for overriding default serial bitrate */
|
|
||||||
void FirmataClass::begin(void)
|
|
||||||
{
|
|
||||||
begin(57600);
|
|
||||||
}
|
|
||||||
|
|
||||||
/* begin method for overriding default serial bitrate */
|
|
||||||
void FirmataClass::begin(long speed)
|
|
||||||
{
|
|
||||||
Serial.begin(speed);
|
|
||||||
FirmataSerial = Serial;
|
|
||||||
blinkVersion();
|
|
||||||
printVersion();
|
|
||||||
printFirmwareVersion();
|
|
||||||
}
|
|
||||||
|
|
||||||
void FirmataClass::begin(Stream &s)
|
|
||||||
{
|
|
||||||
FirmataSerial = s;
|
|
||||||
systemReset();
|
|
||||||
printVersion();
|
|
||||||
printFirmwareVersion();
|
|
||||||
}
|
|
||||||
|
|
||||||
// output the protocol version message to the serial port
|
|
||||||
void FirmataClass::printVersion(void) {
|
|
||||||
FirmataSerial.write(REPORT_VERSION);
|
|
||||||
FirmataSerial.write(FIRMATA_MAJOR_VERSION);
|
|
||||||
FirmataSerial.write(FIRMATA_MINOR_VERSION);
|
|
||||||
}
|
|
||||||
|
|
||||||
void FirmataClass::blinkVersion(void)
|
|
||||||
{
|
|
||||||
// flash the pin with the protocol version
|
|
||||||
pinMode(VERSION_BLINK_PIN,OUTPUT);
|
|
||||||
pin13strobe(FIRMATA_MAJOR_VERSION, 40, 210);
|
|
||||||
delay(250);
|
|
||||||
pin13strobe(FIRMATA_MINOR_VERSION, 40, 210);
|
|
||||||
delay(125);
|
|
||||||
}
|
|
||||||
|
|
||||||
void FirmataClass::printFirmwareVersion(void)
|
|
||||||
{
|
|
||||||
byte i;
|
|
||||||
|
|
||||||
if(firmwareVersionCount) { // make sure that the name has been set before reporting
|
|
||||||
startSysex();
|
|
||||||
FirmataSerial.write(REPORT_FIRMWARE);
|
|
||||||
FirmataSerial.write(firmwareVersionVector[0]); // major version number
|
|
||||||
FirmataSerial.write(firmwareVersionVector[1]); // minor version number
|
|
||||||
for(i=2; i<firmwareVersionCount; ++i) {
|
|
||||||
sendValueAsTwo7bitBytes(firmwareVersionVector[i]);
|
|
||||||
}
|
|
||||||
endSysex();
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
void FirmataClass::setFirmwareNameAndVersion(const char *name, byte major, byte minor)
|
|
||||||
{
|
|
||||||
const char *filename;
|
|
||||||
char *extension;
|
|
||||||
|
|
||||||
// parse out ".cpp" and "applet/" that comes from using __FILE__
|
|
||||||
extension = strstr(name, ".cpp");
|
|
||||||
filename = strrchr(name, '/') + 1; //points to slash, +1 gets to start of filename
|
|
||||||
// add two bytes for version numbers
|
|
||||||
if(extension && filename) {
|
|
||||||
firmwareVersionCount = extension - filename + 2;
|
|
||||||
} else {
|
|
||||||
firmwareVersionCount = strlen(name) + 2;
|
|
||||||
filename = name;
|
|
||||||
}
|
|
||||||
firmwareVersionVector = (byte *) malloc(firmwareVersionCount);
|
|
||||||
firmwareVersionVector[firmwareVersionCount] = 0;
|
|
||||||
firmwareVersionVector[0] = major;
|
|
||||||
firmwareVersionVector[1] = minor;
|
|
||||||
strncpy((char*)firmwareVersionVector + 2, filename, firmwareVersionCount - 2);
|
|
||||||
// alas, no snprintf on Arduino
|
|
||||||
// snprintf(firmwareVersionVector, MAX_DATA_BYTES, "%c%c%s",
|
|
||||||
// (char)major, (char)minor, firmwareVersionVector);
|
|
||||||
}
|
|
||||||
|
|
||||||
//------------------------------------------------------------------------------
|
|
||||||
// Serial Receive Handling
|
|
||||||
|
|
||||||
int FirmataClass::available(void)
|
|
||||||
{
|
|
||||||
return FirmataSerial.available();
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
void FirmataClass::processSysexMessage(void)
|
|
||||||
{
|
|
||||||
switch(storedInputData[0]) { //first byte in buffer is command
|
|
||||||
case REPORT_FIRMWARE:
|
|
||||||
printFirmwareVersion();
|
|
||||||
break;
|
|
||||||
case STRING_DATA:
|
|
||||||
if(currentStringCallback) {
|
|
||||||
byte bufferLength = (sysexBytesRead - 1) / 2;
|
|
||||||
char *buffer = (char*)malloc(bufferLength * sizeof(char));
|
|
||||||
byte i = 1;
|
|
||||||
byte j = 0;
|
|
||||||
while(j < bufferLength) {
|
|
||||||
buffer[j] = (char)storedInputData[i];
|
|
||||||
i++;
|
|
||||||
buffer[j] += (char)(storedInputData[i] << 7);
|
|
||||||
i++;
|
|
||||||
j++;
|
|
||||||
}
|
|
||||||
(*currentStringCallback)(buffer);
|
|
||||||
}
|
|
||||||
break;
|
|
||||||
default:
|
|
||||||
if(currentSysexCallback)
|
|
||||||
(*currentSysexCallback)(storedInputData[0], sysexBytesRead - 1, storedInputData + 1);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
void FirmataClass::processInput(void)
|
|
||||||
{
|
|
||||||
int inputData = FirmataSerial.read(); // this is 'int' to handle -1 when no data
|
|
||||||
int command;
|
|
||||||
|
|
||||||
// TODO make sure it handles -1 properly
|
|
||||||
|
|
||||||
if (parsingSysex) {
|
|
||||||
if(inputData == END_SYSEX) {
|
|
||||||
//stop sysex byte
|
|
||||||
parsingSysex = false;
|
|
||||||
//fire off handler function
|
|
||||||
processSysexMessage();
|
|
||||||
} else {
|
|
||||||
//normal data byte - add to buffer
|
|
||||||
storedInputData[sysexBytesRead] = inputData;
|
|
||||||
sysexBytesRead++;
|
|
||||||
}
|
|
||||||
} else if( (waitForData > 0) && (inputData < 128) ) {
|
|
||||||
waitForData--;
|
|
||||||
storedInputData[waitForData] = inputData;
|
|
||||||
if( (waitForData==0) && executeMultiByteCommand ) { // got the whole message
|
|
||||||
switch(executeMultiByteCommand) {
|
|
||||||
case ANALOG_MESSAGE:
|
|
||||||
if(currentAnalogCallback) {
|
|
||||||
(*currentAnalogCallback)(multiByteChannel,
|
|
||||||
(storedInputData[0] << 7)
|
|
||||||
+ storedInputData[1]);
|
|
||||||
}
|
|
||||||
break;
|
|
||||||
case DIGITAL_MESSAGE:
|
|
||||||
if(currentDigitalCallback) {
|
|
||||||
(*currentDigitalCallback)(multiByteChannel,
|
|
||||||
(storedInputData[0] << 7)
|
|
||||||
+ storedInputData[1]);
|
|
||||||
}
|
|
||||||
break;
|
|
||||||
case SET_PIN_MODE:
|
|
||||||
if(currentPinModeCallback)
|
|
||||||
(*currentPinModeCallback)(storedInputData[1], storedInputData[0]);
|
|
||||||
break;
|
|
||||||
case REPORT_ANALOG:
|
|
||||||
if(currentReportAnalogCallback)
|
|
||||||
(*currentReportAnalogCallback)(multiByteChannel,storedInputData[0]);
|
|
||||||
break;
|
|
||||||
case REPORT_DIGITAL:
|
|
||||||
if(currentReportDigitalCallback)
|
|
||||||
(*currentReportDigitalCallback)(multiByteChannel,storedInputData[0]);
|
|
||||||
break;
|
|
||||||
}
|
|
||||||
executeMultiByteCommand = 0;
|
|
||||||
}
|
|
||||||
} else {
|
|
||||||
// remove channel info from command byte if less than 0xF0
|
|
||||||
if(inputData < 0xF0) {
|
|
||||||
command = inputData & 0xF0;
|
|
||||||
multiByteChannel = inputData & 0x0F;
|
|
||||||
} else {
|
|
||||||
command = inputData;
|
|
||||||
// commands in the 0xF* range don't use channel data
|
|
||||||
}
|
|
||||||
switch (command) {
|
|
||||||
case ANALOG_MESSAGE:
|
|
||||||
case DIGITAL_MESSAGE:
|
|
||||||
case SET_PIN_MODE:
|
|
||||||
waitForData = 2; // two data bytes needed
|
|
||||||
executeMultiByteCommand = command;
|
|
||||||
break;
|
|
||||||
case REPORT_ANALOG:
|
|
||||||
case REPORT_DIGITAL:
|
|
||||||
waitForData = 1; // one data byte needed
|
|
||||||
executeMultiByteCommand = command;
|
|
||||||
break;
|
|
||||||
case START_SYSEX:
|
|
||||||
parsingSysex = true;
|
|
||||||
sysexBytesRead = 0;
|
|
||||||
break;
|
|
||||||
case SYSTEM_RESET:
|
|
||||||
systemReset();
|
|
||||||
break;
|
|
||||||
case REPORT_VERSION:
|
|
||||||
Firmata.printVersion();
|
|
||||||
break;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
//------------------------------------------------------------------------------
|
|
||||||
// Serial Send Handling
|
|
||||||
|
|
||||||
// send an analog message
|
|
||||||
void FirmataClass::sendAnalog(byte pin, int value)
|
|
||||||
{
|
|
||||||
// pin can only be 0-15, so chop higher bits
|
|
||||||
FirmataSerial.write(ANALOG_MESSAGE | (pin & 0xF));
|
|
||||||
sendValueAsTwo7bitBytes(value);
|
|
||||||
}
|
|
||||||
|
|
||||||
// send a single digital pin in a digital message
|
|
||||||
void FirmataClass::sendDigital(byte pin, int value)
|
|
||||||
{
|
|
||||||
/* TODO add single pin digital messages to the protocol, this needs to
|
|
||||||
* track the last digital data sent so that it can be sure to change just
|
|
||||||
* one bit in the packet. This is complicated by the fact that the
|
|
||||||
* numbering of the pins will probably differ on Arduino, Wiring, and
|
|
||||||
* other boards. The DIGITAL_MESSAGE sends 14 bits at a time, but it is
|
|
||||||
* probably easier to send 8 bit ports for any board with more than 14
|
|
||||||
* digital pins.
|
|
||||||
*/
|
|
||||||
|
|
||||||
// TODO: the digital message should not be sent on the serial port every
|
|
||||||
// time sendDigital() is called. Instead, it should add it to an int
|
|
||||||
// which will be sent on a schedule. If a pin changes more than once
|
|
||||||
// before the digital message is sent on the serial port, it should send a
|
|
||||||
// digital message for each change.
|
|
||||||
|
|
||||||
// if(value == 0)
|
|
||||||
// sendDigitalPortPair();
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
// send 14-bits in a single digital message (protocol v1)
|
|
||||||
// send an 8-bit port in a single digital message (protocol v2)
|
|
||||||
void FirmataClass::sendDigitalPort(byte portNumber, int portData)
|
|
||||||
{
|
|
||||||
FirmataSerial.write(DIGITAL_MESSAGE | (portNumber & 0xF));
|
|
||||||
FirmataSerial.write((byte)portData % 128); // Tx bits 0-6
|
|
||||||
FirmataSerial.write(portData >> 7); // Tx bits 7-13
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
void FirmataClass::sendSysex(byte command, byte bytec, byte* bytev)
|
|
||||||
{
|
|
||||||
byte i;
|
|
||||||
startSysex();
|
|
||||||
FirmataSerial.write(command);
|
|
||||||
for(i=0; i<bytec; i++) {
|
|
||||||
sendValueAsTwo7bitBytes(bytev[i]);
|
|
||||||
}
|
|
||||||
endSysex();
|
|
||||||
}
|
|
||||||
|
|
||||||
void FirmataClass::sendString(byte command, const char* string)
|
|
||||||
{
|
|
||||||
sendSysex(command, strlen(string), (byte *)string);
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
// send a string as the protocol string type
|
|
||||||
void FirmataClass::sendString(const char* string)
|
|
||||||
{
|
|
||||||
sendString(STRING_DATA, string);
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
// Internal Actions/////////////////////////////////////////////////////////////
|
|
||||||
|
|
||||||
// generic callbacks
|
|
||||||
void FirmataClass::attach(byte command, callbackFunction newFunction)
|
|
||||||
{
|
|
||||||
switch(command) {
|
|
||||||
case ANALOG_MESSAGE: currentAnalogCallback = newFunction; break;
|
|
||||||
case DIGITAL_MESSAGE: currentDigitalCallback = newFunction; break;
|
|
||||||
case REPORT_ANALOG: currentReportAnalogCallback = newFunction; break;
|
|
||||||
case REPORT_DIGITAL: currentReportDigitalCallback = newFunction; break;
|
|
||||||
case SET_PIN_MODE: currentPinModeCallback = newFunction; break;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
void FirmataClass::attach(byte command, systemResetCallbackFunction newFunction)
|
|
||||||
{
|
|
||||||
switch(command) {
|
|
||||||
case SYSTEM_RESET: currentSystemResetCallback = newFunction; break;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
void FirmataClass::attach(byte command, stringCallbackFunction newFunction)
|
|
||||||
{
|
|
||||||
switch(command) {
|
|
||||||
case STRING_DATA: currentStringCallback = newFunction; break;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
void FirmataClass::attach(byte command, sysexCallbackFunction newFunction)
|
|
||||||
{
|
|
||||||
currentSysexCallback = newFunction;
|
|
||||||
}
|
|
||||||
|
|
||||||
void FirmataClass::detach(byte command)
|
|
||||||
{
|
|
||||||
switch(command) {
|
|
||||||
case SYSTEM_RESET: currentSystemResetCallback = NULL; break;
|
|
||||||
case STRING_DATA: currentStringCallback = NULL; break;
|
|
||||||
case START_SYSEX: currentSysexCallback = NULL; break;
|
|
||||||
default:
|
|
||||||
attach(command, (callbackFunction)NULL);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
// sysex callbacks
|
|
||||||
/*
|
|
||||||
* this is too complicated for analogReceive, but maybe for Sysex?
|
|
||||||
void FirmataClass::attachSysex(sysexFunction newFunction)
|
|
||||||
{
|
|
||||||
byte i;
|
|
||||||
byte tmpCount = analogReceiveFunctionCount;
|
|
||||||
analogReceiveFunction* tmpArray = analogReceiveFunctionArray;
|
|
||||||
analogReceiveFunctionCount++;
|
|
||||||
analogReceiveFunctionArray = (analogReceiveFunction*) calloc(analogReceiveFunctionCount, sizeof(analogReceiveFunction));
|
|
||||||
for(i = 0; i < tmpCount; i++) {
|
|
||||||
analogReceiveFunctionArray[i] = tmpArray[i];
|
|
||||||
}
|
|
||||||
analogReceiveFunctionArray[tmpCount] = newFunction;
|
|
||||||
free(tmpArray);
|
|
||||||
}
|
|
||||||
*/
|
|
||||||
|
|
||||||
//******************************************************************************
|
|
||||||
//* Private Methods
|
|
||||||
//******************************************************************************
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
// resets the system state upon a SYSTEM_RESET message from the host software
|
|
||||||
void FirmataClass::systemReset(void)
|
|
||||||
{
|
|
||||||
byte i;
|
|
||||||
|
|
||||||
waitForData = 0; // this flag says the next serial input will be data
|
|
||||||
executeMultiByteCommand = 0; // execute this after getting multi-byte data
|
|
||||||
multiByteChannel = 0; // channel data for multiByteCommands
|
|
||||||
|
|
||||||
|
|
||||||
for(i=0; i<MAX_DATA_BYTES; i++) {
|
|
||||||
storedInputData[i] = 0;
|
|
||||||
}
|
|
||||||
|
|
||||||
parsingSysex = false;
|
|
||||||
sysexBytesRead = 0;
|
|
||||||
|
|
||||||
if(currentSystemResetCallback)
|
|
||||||
(*currentSystemResetCallback)();
|
|
||||||
|
|
||||||
//flush(); //TODO uncomment when Firmata is a subclass of HardwareSerial
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
// =============================================================================
|
|
||||||
// used for flashing the pin for the version number
|
|
||||||
void FirmataClass::pin13strobe(int count, int onInterval, int offInterval)
|
|
||||||
{
|
|
||||||
byte i;
|
|
||||||
pinMode(VERSION_BLINK_PIN, OUTPUT);
|
|
||||||
for(i=0; i<count; i++) {
|
|
||||||
delay(offInterval);
|
|
||||||
digitalWrite(VERSION_BLINK_PIN, HIGH);
|
|
||||||
delay(onInterval);
|
|
||||||
digitalWrite(VERSION_BLINK_PIN, LOW);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
// make one instance for the user to use
|
|
||||||
FirmataClass Firmata(Serial);
|
|
||||||
|
|
||||||
|
|
||||||
|
|
@ -1,163 +0,0 @@
|
||||||
/*
|
|
||||||
Firmata.h - Firmata library
|
|
||||||
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.
|
|
||||||
*/
|
|
||||||
|
|
||||||
#ifndef Firmata_h
|
|
||||||
#define Firmata_h
|
|
||||||
|
|
||||||
#include "Boards.h" /* Hardware Abstraction Layer + Wiring/Arduino */
|
|
||||||
|
|
||||||
/* Version numbers for the protocol. The protocol is still changing, so these
|
|
||||||
* version numbers are important. This number can be queried so that host
|
|
||||||
* software can test whether it will be compatible with the currently
|
|
||||||
* installed firmware. */
|
|
||||||
#define FIRMATA_MAJOR_VERSION 2 // for non-compatible changes
|
|
||||||
#define FIRMATA_MINOR_VERSION 3 // for backwards compatible changes
|
|
||||||
#define FIRMATA_BUGFIX_VERSION 1 // for bugfix releases
|
|
||||||
|
|
||||||
#define MAX_DATA_BYTES 32 // max number of data bytes in non-Sysex messages
|
|
||||||
|
|
||||||
// message command bytes (128-255/0x80-0xFF)
|
|
||||||
#define DIGITAL_MESSAGE 0x90 // send data for a digital pin
|
|
||||||
#define ANALOG_MESSAGE 0xE0 // send data for an analog pin (or PWM)
|
|
||||||
#define REPORT_ANALOG 0xC0 // enable analog input by pin #
|
|
||||||
#define REPORT_DIGITAL 0xD0 // enable digital input by port pair
|
|
||||||
//
|
|
||||||
#define SET_PIN_MODE 0xF4 // set a pin to INPUT/OUTPUT/PWM/etc
|
|
||||||
//
|
|
||||||
#define REPORT_VERSION 0xF9 // report protocol version
|
|
||||||
#define SYSTEM_RESET 0xFF // reset from MIDI
|
|
||||||
//
|
|
||||||
#define START_SYSEX 0xF0 // start a MIDI Sysex message
|
|
||||||
#define END_SYSEX 0xF7 // end a MIDI Sysex message
|
|
||||||
|
|
||||||
// extended command set using sysex (0-127/0x00-0x7F)
|
|
||||||
/* 0x00-0x0F reserved for user-defined commands */
|
|
||||||
#define SERVO_CONFIG 0x70 // set max angle, minPulse, maxPulse, freq
|
|
||||||
#define STRING_DATA 0x71 // a string message with 14-bits per char
|
|
||||||
#define SHIFT_DATA 0x75 // a bitstream to/from a shift register
|
|
||||||
#define I2C_REQUEST 0x76 // send an I2C read/write request
|
|
||||||
#define I2C_REPLY 0x77 // a reply to an I2C read request
|
|
||||||
#define I2C_CONFIG 0x78 // config I2C settings such as delay times and power pins
|
|
||||||
#define EXTENDED_ANALOG 0x6F // analog write (PWM, Servo, etc) to any pin
|
|
||||||
#define PIN_STATE_QUERY 0x6D // ask for a pin's current mode and value
|
|
||||||
#define PIN_STATE_RESPONSE 0x6E // reply with pin's current mode and value
|
|
||||||
#define CAPABILITY_QUERY 0x6B // ask for supported modes and resolution of all pins
|
|
||||||
#define CAPABILITY_RESPONSE 0x6C // reply with supported modes and resolution
|
|
||||||
#define ANALOG_MAPPING_QUERY 0x69 // ask for mapping of analog to pin numbers
|
|
||||||
#define ANALOG_MAPPING_RESPONSE 0x6A // reply with mapping info
|
|
||||||
#define REPORT_FIRMWARE 0x79 // report name and version of the firmware
|
|
||||||
#define SAMPLING_INTERVAL 0x7A // set the poll rate of the main loop
|
|
||||||
#define SYSEX_NON_REALTIME 0x7E // MIDI Reserved for non-realtime messages
|
|
||||||
#define SYSEX_REALTIME 0x7F // MIDI Reserved for realtime messages
|
|
||||||
// these are DEPRECATED to make the naming more consistent
|
|
||||||
#define FIRMATA_STRING 0x71 // same as STRING_DATA
|
|
||||||
#define SYSEX_I2C_REQUEST 0x76 // same as I2C_REQUEST
|
|
||||||
#define SYSEX_I2C_REPLY 0x77 // same as I2C_REPLY
|
|
||||||
#define SYSEX_SAMPLING_INTERVAL 0x7A // same as SAMPLING_INTERVAL
|
|
||||||
|
|
||||||
// pin modes
|
|
||||||
//#define INPUT 0x00 // defined in wiring.h
|
|
||||||
//#define OUTPUT 0x01 // defined in wiring.h
|
|
||||||
#define ANALOG 0x02 // analog pin in analogInput mode
|
|
||||||
#define PWM 0x03 // digital pin in PWM output mode
|
|
||||||
#define SERVO 0x04 // digital pin in Servo output mode
|
|
||||||
#define SHIFT 0x05 // shiftIn/shiftOut mode
|
|
||||||
#define I2C 0x06 // pin included in I2C setup
|
|
||||||
#define TOTAL_PIN_MODES 7
|
|
||||||
|
|
||||||
extern "C" {
|
|
||||||
// callback function types
|
|
||||||
typedef void (*callbackFunction)(byte, int);
|
|
||||||
typedef void (*systemResetCallbackFunction)(void);
|
|
||||||
typedef void (*stringCallbackFunction)(char*);
|
|
||||||
typedef void (*sysexCallbackFunction)(byte command, byte argc, byte*argv);
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
// TODO make it a subclass of a generic Serial/Stream base class
|
|
||||||
class FirmataClass
|
|
||||||
{
|
|
||||||
public:
|
|
||||||
FirmataClass(Stream &s);
|
|
||||||
/* Arduino constructors */
|
|
||||||
void begin();
|
|
||||||
void begin(long);
|
|
||||||
void begin(Stream &s);
|
|
||||||
/* querying functions */
|
|
||||||
void printVersion(void);
|
|
||||||
void blinkVersion(void);
|
|
||||||
void printFirmwareVersion(void);
|
|
||||||
//void setFirmwareVersion(byte major, byte minor); // see macro below
|
|
||||||
void setFirmwareNameAndVersion(const char *name, byte major, byte minor);
|
|
||||||
/* serial receive handling */
|
|
||||||
int available(void);
|
|
||||||
void processInput(void);
|
|
||||||
/* serial send handling */
|
|
||||||
void sendAnalog(byte pin, int value);
|
|
||||||
void sendDigital(byte pin, int value); // TODO implement this
|
|
||||||
void sendDigitalPort(byte portNumber, int portData);
|
|
||||||
void sendString(const char* string);
|
|
||||||
void sendString(byte command, const char* string);
|
|
||||||
void sendSysex(byte command, byte bytec, byte* bytev);
|
|
||||||
/* attach & detach callback functions to messages */
|
|
||||||
void attach(byte command, callbackFunction newFunction);
|
|
||||||
void attach(byte command, systemResetCallbackFunction newFunction);
|
|
||||||
void attach(byte command, stringCallbackFunction newFunction);
|
|
||||||
void attach(byte command, sysexCallbackFunction newFunction);
|
|
||||||
void detach(byte command);
|
|
||||||
|
|
||||||
private:
|
|
||||||
Stream &FirmataSerial;
|
|
||||||
/* firmware name and version */
|
|
||||||
byte firmwareVersionCount;
|
|
||||||
byte *firmwareVersionVector;
|
|
||||||
/* input message handling */
|
|
||||||
byte waitForData; // this flag says the next serial input will be data
|
|
||||||
byte executeMultiByteCommand; // execute this after getting multi-byte data
|
|
||||||
byte multiByteChannel; // channel data for multiByteCommands
|
|
||||||
byte storedInputData[MAX_DATA_BYTES]; // multi-byte data
|
|
||||||
/* sysex */
|
|
||||||
boolean parsingSysex;
|
|
||||||
int sysexBytesRead;
|
|
||||||
/* callback functions */
|
|
||||||
callbackFunction currentAnalogCallback;
|
|
||||||
callbackFunction currentDigitalCallback;
|
|
||||||
callbackFunction currentReportAnalogCallback;
|
|
||||||
callbackFunction currentReportDigitalCallback;
|
|
||||||
callbackFunction currentPinModeCallback;
|
|
||||||
systemResetCallbackFunction currentSystemResetCallback;
|
|
||||||
stringCallbackFunction currentStringCallback;
|
|
||||||
sysexCallbackFunction currentSysexCallback;
|
|
||||||
|
|
||||||
/* private methods ------------------------------ */
|
|
||||||
void processSysexMessage(void);
|
|
||||||
void systemReset(void);
|
|
||||||
void pin13strobe(int count, int onInterval, int offInterval);
|
|
||||||
void sendValueAsTwo7bitBytes(int value);
|
|
||||||
void startSysex(void);
|
|
||||||
void endSysex(void);
|
|
||||||
};
|
|
||||||
|
|
||||||
extern FirmataClass Firmata;
|
|
||||||
|
|
||||||
/*==============================================================================
|
|
||||||
* MACROS
|
|
||||||
*============================================================================*/
|
|
||||||
|
|
||||||
/* shortcut for setFirmwareNameAndVersion() that uses __FILE__ to set the
|
|
||||||
* firmware name. It needs to be a macro so that __FILE__ is included in the
|
|
||||||
* firmware source file rather than the library source file.
|
|
||||||
*/
|
|
||||||
#define setFirmwareVersion(x, y) setFirmwareNameAndVersion(__FILE__, x, y)
|
|
||||||
|
|
||||||
#endif /* Firmata_h */
|
|
||||||
|
|
||||||
|
|
@ -1,458 +0,0 @@
|
||||||
|
|
||||||
GNU LESSER GENERAL PUBLIC LICENSE
|
|
||||||
Version 2.1, February 1999
|
|
||||||
|
|
||||||
Copyright (C) 1991, 1999 Free Software Foundation, Inc.
|
|
||||||
51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
|
|
||||||
Everyone is permitted to copy and distribute verbatim copies
|
|
||||||
of this license document, but changing it is not allowed.
|
|
||||||
|
|
||||||
[This is the first released version of the Lesser GPL. It also counts
|
|
||||||
as the successor of the GNU Library Public License, version 2, hence
|
|
||||||
the version number 2.1.]
|
|
||||||
|
|
||||||
Preamble
|
|
||||||
|
|
||||||
The licenses for most software are designed to take away your
|
|
||||||
freedom to share and change it. By contrast, the GNU General Public
|
|
||||||
Licenses are intended to guarantee your freedom to share and change
|
|
||||||
free software--to make sure the software is free for all its users.
|
|
||||||
|
|
||||||
This license, the Lesser General Public License, applies to some
|
|
||||||
specially designated software packages--typically libraries--of the
|
|
||||||
Free Software Foundation and other authors who decide to use it. You
|
|
||||||
can use it too, but we suggest you first think carefully about whether
|
|
||||||
this license or the ordinary General Public License is the better
|
|
||||||
strategy to use in any particular case, based on the explanations below.
|
|
||||||
|
|
||||||
When we speak of free software, we are referring to freedom of use,
|
|
||||||
not price. Our General Public Licenses are designed to make sure that
|
|
||||||
you have the freedom to distribute copies of free software (and charge
|
|
||||||
for this service if you wish); that you receive source code or can get
|
|
||||||
it if you want it; that you can change the software and use pieces of
|
|
||||||
it in new free programs; and that you are informed that you can do
|
|
||||||
these things.
|
|
||||||
|
|
||||||
To protect your rights, we need to make restrictions that forbid
|
|
||||||
distributors to deny you these rights or to ask you to surrender these
|
|
||||||
rights. These restrictions translate to certain responsibilities for
|
|
||||||
you if you distribute copies of the library or if you modify it.
|
|
||||||
|
|
||||||
For example, if you distribute copies of the library, whether gratis
|
|
||||||
or for a fee, you must give the recipients all the rights that we gave
|
|
||||||
you. You must make sure that they, too, receive or can get the source
|
|
||||||
code. If you link other code with the library, you must provide
|
|
||||||
complete object files to the recipients, so that they can relink them
|
|
||||||
with the library after making changes to the library and recompiling
|
|
||||||
it. And you must show them these terms so they know their rights.
|
|
||||||
|
|
||||||
We protect your rights with a two-step method: (1) we copyright the
|
|
||||||
library, and (2) we offer you this license, which gives you legal
|
|
||||||
permission to copy, distribute and/or modify the library.
|
|
||||||
|
|
||||||
To protect each distributor, we want to make it very clear that
|
|
||||||
there is no warranty for the free library. Also, if the library is
|
|
||||||
modified by someone else and passed on, the recipients should know
|
|
||||||
that what they have is not the original version, so that the original
|
|
||||||
author's reputation will not be affected by problems that might be
|
|
||||||
introduced by others.
|
|
||||||
|
|
||||||
Finally, software patents pose a constant threat to the existence of
|
|
||||||
any free program. We wish to make sure that a company cannot
|
|
||||||
effectively restrict the users of a free program by obtaining a
|
|
||||||
restrictive license from a patent holder. Therefore, we insist that
|
|
||||||
any patent license obtained for a version of the library must be
|
|
||||||
consistent with the full freedom of use specified in this license.
|
|
||||||
|
|
||||||
Most GNU software, including some libraries, is covered by the
|
|
||||||
ordinary GNU General Public License. This license, the GNU Lesser
|
|
||||||
General Public License, applies to certain designated libraries, and
|
|
||||||
is quite different from the ordinary General Public License. We use
|
|
||||||
this license for certain libraries in order to permit linking those
|
|
||||||
libraries into non-free programs.
|
|
||||||
|
|
||||||
When a program is linked with a library, whether statically or using
|
|
||||||
a shared library, the combination of the two is legally speaking a
|
|
||||||
combined work, a derivative of the original library. The ordinary
|
|
||||||
General Public License therefore permits such linking only if the
|
|
||||||
entire combination fits its criteria of freedom. The Lesser General
|
|
||||||
Public License permits more lax criteria for linking other code with
|
|
||||||
the library.
|
|
||||||
|
|
||||||
We call this license the "Lesser" General Public License because it
|
|
||||||
does Less to protect the user's freedom than the ordinary General
|
|
||||||
Public License. It also provides other free software developers Less
|
|
||||||
of an advantage over competing non-free programs. These disadvantages
|
|
||||||
are the reason we use the ordinary General Public License for many
|
|
||||||
libraries. However, the Lesser license provides advantages in certain
|
|
||||||
special circumstances.
|
|
||||||
|
|
||||||
For example, on rare occasions, there may be a special need to
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|
||||||
encourage the widest possible use of a certain library, so that it becomes
|
|
||||||
a de-facto standard. To achieve this, non-free programs must be
|
|
||||||
allowed to use the library. A more frequent case is that a free
|
|
||||||
library does the same job as widely used non-free libraries. In this
|
|
||||||
case, there is little to gain by limiting the free library to free
|
|
||||||
software only, so we use the Lesser General Public License.
|
|
||||||
|
|
||||||
In other cases, permission to use a particular library in non-free
|
|
||||||
programs enables a greater number of people to use a large body of
|
|
||||||
free software. For example, permission to use the GNU C Library in
|
|
||||||
non-free programs enables many more people to use the whole GNU
|
|
||||||
operating system, as well as its variant, the GNU/Linux operating
|
|
||||||
system.
|
|
||||||
|
|
||||||
Although the Lesser General Public License is Less protective of the
|
|
||||||
users' freedom, it does ensure that the user of a program that is
|
|
||||||
linked with the Library has the freedom and the wherewithal to run
|
|
||||||
that program using a modified version of the Library.
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|
||||||
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|
||||||
The precise terms and conditions for copying, distribution and
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|
||||||
modification follow. Pay close attention to the difference between a
|
|
||||||
"work based on the library" and a "work that uses the library". The
|
|
||||||
former contains code derived from the library, whereas the latter must
|
|
||||||
be combined with the library in order to run.
|
|
||||||
|
|
||||||
GNU LESSER GENERAL PUBLIC LICENSE
|
|
||||||
TERMS AND CONDITIONS FOR COPYING, DISTRIBUTION AND MODIFICATION
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|
||||||
|
|
||||||
0. This License Agreement applies to any software library or other
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It is not the purpose of this section to induce you to infringe any
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Such new versions will be similar in spirit to the present version,
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15. BECAUSE THE LIBRARY IS LICENSED FREE OF CHARGE, THERE IS NO
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|
||||||
|
|
||||||
|
|
@ -1,14 +0,0 @@
|
||||||
|
|
||||||
- make Firmata a subclass of HardwareSerial
|
|
||||||
|
|
||||||
- per-pin digital callback, since the per-port callback is a bit complicated
|
|
||||||
for beginners (maybe Firmata is not for beginners...)
|
|
||||||
|
|
||||||
- simplify SimpleDigitalFirmata, take out the code that checks to see if the
|
|
||||||
data has changed, since it is a bit complicated for this example. Ideally
|
|
||||||
this example would be based on a call
|
|
||||||
|
|
||||||
- turn current SimpleDigitalFirmata into DigitalPortFirmata for a more complex
|
|
||||||
example using the code which checks for changes before doing anything
|
|
||||||
|
|
||||||
- test integration with Wiring
|
|
||||||
|
|
@ -1,90 +0,0 @@
|
||||||
/*
|
|
||||||
* 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.
|
|
||||||
*
|
|
||||||
* This example code is in the public domain.
|
|
||||||
*/
|
|
||||||
#include <Firmata.h>
|
|
||||||
|
|
||||||
byte pin;
|
|
||||||
|
|
||||||
int analogValue;
|
|
||||||
int previousAnalogValues[TOTAL_ANALOG_PINS];
|
|
||||||
|
|
||||||
byte portStatus[TOTAL_PORTS]; // each bit: 1=pin is digital input, 0=other/ignore
|
|
||||||
byte previousPINs[TOTAL_PORTS];
|
|
||||||
|
|
||||||
/* timer variables */
|
|
||||||
unsigned long currentMillis; // store the current value from millis()
|
|
||||||
unsigned long previousMillis; // for comparison with currentMillis
|
|
||||||
/* make sure that the FTDI buffer doesn't go over 60 bytes, otherwise you
|
|
||||||
get long, random delays. So only read analogs every 20ms or so */
|
|
||||||
int samplingInterval = 19; // how often to run the main loop (in ms)
|
|
||||||
|
|
||||||
void sendPort(byte portNumber, byte portValue)
|
|
||||||
{
|
|
||||||
portValue = portValue & portStatus[portNumber];
|
|
||||||
if(previousPINs[portNumber] != portValue) {
|
|
||||||
Firmata.sendDigitalPort(portNumber, portValue);
|
|
||||||
previousPINs[portNumber] = portValue;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
void setup()
|
|
||||||
{
|
|
||||||
byte i, port, status;
|
|
||||||
|
|
||||||
Firmata.setFirmwareVersion(0, 1);
|
|
||||||
|
|
||||||
for(pin = 0; pin < TOTAL_PINS; pin++) {
|
|
||||||
if IS_PIN_DIGITAL(pin) pinMode(PIN_TO_DIGITAL(pin), INPUT);
|
|
||||||
}
|
|
||||||
|
|
||||||
for (port=0; port<TOTAL_PORTS; port++) {
|
|
||||||
status = 0;
|
|
||||||
for (i=0; i<8; i++) {
|
|
||||||
if (IS_PIN_DIGITAL(port * 8 + i)) status |= (1 << i);
|
|
||||||
}
|
|
||||||
portStatus[port] = status;
|
|
||||||
}
|
|
||||||
|
|
||||||
Firmata.begin(57600);
|
|
||||||
}
|
|
||||||
|
|
||||||
void loop()
|
|
||||||
{
|
|
||||||
byte i;
|
|
||||||
|
|
||||||
for (i=0; i<TOTAL_PORTS; i++) {
|
|
||||||
sendPort(i, readPort(i, 0xff));
|
|
||||||
}
|
|
||||||
/* make sure that the FTDI buffer doesn't go over 60 bytes, otherwise you
|
|
||||||
get long, random delays. So only read analogs every 20ms or so */
|
|
||||||
currentMillis = millis();
|
|
||||||
if(currentMillis - previousMillis > samplingInterval) {
|
|
||||||
previousMillis += samplingInterval;
|
|
||||||
while(Firmata.available()) {
|
|
||||||
Firmata.processInput();
|
|
||||||
}
|
|
||||||
for(pin = 0; pin < TOTAL_ANALOG_PINS; pin++) {
|
|
||||||
analogValue = analogRead(pin);
|
|
||||||
if(analogValue != previousAnalogValues[pin]) {
|
|
||||||
Firmata.sendAnalog(pin, analogValue);
|
|
||||||
previousAnalogValues[pin] = analogValue;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
|
|
@ -1,94 +0,0 @@
|
||||||
/*
|
|
||||||
* 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.
|
|
||||||
*
|
|
||||||
* This example code is in the public domain.
|
|
||||||
*/
|
|
||||||
#include <Servo.h>
|
|
||||||
#include <Firmata.h>
|
|
||||||
|
|
||||||
/*==============================================================================
|
|
||||||
* GLOBAL VARIABLES
|
|
||||||
*============================================================================*/
|
|
||||||
|
|
||||||
/* servos */
|
|
||||||
Servo servo9, servo10; // one instance per pin
|
|
||||||
/* analog inputs */
|
|
||||||
int analogInputsToReport = 0; // bitwise array to store pin reporting
|
|
||||||
int analogPin = 0; // counter for reading analog pins
|
|
||||||
/* timer variables */
|
|
||||||
unsigned long currentMillis; // store the current value from millis()
|
|
||||||
unsigned long previousMillis; // for comparison with currentMillis
|
|
||||||
|
|
||||||
|
|
||||||
/*==============================================================================
|
|
||||||
* FUNCTIONS
|
|
||||||
*============================================================================*/
|
|
||||||
|
|
||||||
void analogWriteCallback(byte pin, int value)
|
|
||||||
{
|
|
||||||
switch(pin) {
|
|
||||||
case 9: servo9.write(value); break;
|
|
||||||
case 10: servo10.write(value); break;
|
|
||||||
case 3:
|
|
||||||
case 5:
|
|
||||||
case 6:
|
|
||||||
case 11: // PWM pins
|
|
||||||
analogWrite(pin, value);
|
|
||||||
break;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
// -----------------------------------------------------------------------------
|
|
||||||
// sets bits in a bit array (int) to toggle the reporting of the analogIns
|
|
||||||
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
|
|
||||||
}
|
|
||||||
|
|
||||||
/*==============================================================================
|
|
||||||
* SETUP()
|
|
||||||
*============================================================================*/
|
|
||||||
void setup()
|
|
||||||
{
|
|
||||||
Firmata.setFirmwareVersion(0, 2);
|
|
||||||
Firmata.attach(ANALOG_MESSAGE, analogWriteCallback);
|
|
||||||
Firmata.attach(REPORT_ANALOG, reportAnalogCallback);
|
|
||||||
|
|
||||||
servo9.attach(9);
|
|
||||||
servo10.attach(10);
|
|
||||||
Firmata.begin(57600);
|
|
||||||
}
|
|
||||||
|
|
||||||
/*==============================================================================
|
|
||||||
* LOOP()
|
|
||||||
*============================================================================*/
|
|
||||||
void loop()
|
|
||||||
{
|
|
||||||
while(Firmata.available())
|
|
||||||
Firmata.processInput();
|
|
||||||
currentMillis = millis();
|
|
||||||
if(currentMillis - previousMillis > 20) {
|
|
||||||
previousMillis += 20; // run this every 20ms
|
|
||||||
for(analogPin=0;analogPin<TOTAL_ANALOG_PINS;analogPin++) {
|
|
||||||
if( analogInputsToReport & (1 << analogPin) )
|
|
||||||
Firmata.sendAnalog(analogPin, analogRead(analogPin));
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
@ -1,46 +0,0 @@
|
||||||
/*
|
|
||||||
* 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.
|
|
||||||
*/
|
|
||||||
#include <Firmata.h>
|
|
||||||
|
|
||||||
byte analogPin;
|
|
||||||
|
|
||||||
void stringCallback(char *myString)
|
|
||||||
{
|
|
||||||
Firmata.sendString(myString);
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
void sysexCallback(byte command, byte argc, byte*argv)
|
|
||||||
{
|
|
||||||
Firmata.sendSysex(command, argc, argv);
|
|
||||||
}
|
|
||||||
|
|
||||||
void setup()
|
|
||||||
{
|
|
||||||
Firmata.setFirmwareVersion(0, 1);
|
|
||||||
Firmata.attach(STRING_DATA, stringCallback);
|
|
||||||
Firmata.attach(START_SYSEX, sysexCallback);
|
|
||||||
Firmata.begin(57600);
|
|
||||||
}
|
|
||||||
|
|
||||||
void loop()
|
|
||||||
{
|
|
||||||
while(Firmata.available()) {
|
|
||||||
Firmata.processInput();
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
|
|
@ -1,228 +0,0 @@
|
||||||
/*
|
|
||||||
* 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.
|
|
||||||
|
|
||||||
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.
|
|
||||||
*/
|
|
||||||
|
|
||||||
#include <Wire.h>
|
|
||||||
#include <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 MAX_QUERIES 8
|
|
||||||
|
|
||||||
unsigned long currentMillis; // store the current value from millis()
|
|
||||||
unsigned long previousMillis; // for comparison with currentMillis
|
|
||||||
unsigned int samplingInterval = 32; // default sampling interval is 33ms
|
|
||||||
unsigned int i2cReadDelayTime = 0; // default delay time between i2c read request and Wire.requestFrom()
|
|
||||||
unsigned int powerPinsEnabled = 0; // use as boolean to prevent enablePowerPins from being called more than once
|
|
||||||
|
|
||||||
#define MINIMUM_SAMPLING_INTERVAL 10
|
|
||||||
|
|
||||||
#define REGISTER_NOT_SPECIFIED -1
|
|
||||||
|
|
||||||
struct i2c_device_info {
|
|
||||||
byte addr;
|
|
||||||
byte reg;
|
|
||||||
byte bytes;
|
|
||||||
};
|
|
||||||
|
|
||||||
i2c_device_info query[MAX_QUERIES];
|
|
||||||
|
|
||||||
byte i2cRxData[32];
|
|
||||||
boolean readingContinuously = false;
|
|
||||||
byte queryIndex = 0;
|
|
||||||
|
|
||||||
void readAndReportData(byte address, int theRegister, byte numBytes)
|
|
||||||
{
|
|
||||||
if (theRegister != REGISTER_NOT_SPECIFIED) {
|
|
||||||
Wire.beginTransmission(address);
|
|
||||||
Wire.write((byte)theRegister);
|
|
||||||
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);
|
|
||||||
|
|
||||||
// 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++) {
|
|
||||||
i2cRxData[2 + i] = Wire.read();
|
|
||||||
}
|
|
||||||
// send slave address, register and received bytes
|
|
||||||
Firmata.sendSysex(I2C_REPLY, numBytes + 2, i2cRxData);
|
|
||||||
}
|
|
||||||
else {
|
|
||||||
if(numBytes > Wire.available()) {
|
|
||||||
Firmata.sendString("I2C Read Error: Too many bytes received");
|
|
||||||
} else {
|
|
||||||
Firmata.sendString("I2C Read Error: Too few bytes received");
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
void sysexCallback(byte command, byte argc, byte *argv)
|
|
||||||
{
|
|
||||||
byte mode;
|
|
||||||
byte slaveAddress;
|
|
||||||
byte slaveRegister;
|
|
||||||
byte data;
|
|
||||||
int delayTime;
|
|
||||||
|
|
||||||
if (command == I2C_REQUEST) {
|
|
||||||
mode = argv[1] & I2C_READ_WRITE_MODE_MASK;
|
|
||||||
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);
|
|
||||||
Wire.write(data);
|
|
||||||
}
|
|
||||||
Wire.endTransmission();
|
|
||||||
delayMicroseconds(70); // TODO is this needed?
|
|
||||||
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;
|
|
||||||
}
|
|
||||||
query[queryIndex].addr = slaveAddress;
|
|
||||||
query[queryIndex].reg = argv[2] + (argv[3] << 7);
|
|
||||||
query[queryIndex].bytes = argv[4] + (argv[5] << 7);
|
|
||||||
readingContinuously = true;
|
|
||||||
queryIndex++;
|
|
||||||
break;
|
|
||||||
case I2C_STOP_READING:
|
|
||||||
readingContinuously = false;
|
|
||||||
queryIndex = 0;
|
|
||||||
break;
|
|
||||||
default:
|
|
||||||
break;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
else if (command == SAMPLING_INTERVAL) {
|
|
||||||
samplingInterval = argv[0] + (argv[1] << 7);
|
|
||||||
|
|
||||||
if (samplingInterval < MINIMUM_SAMPLING_INTERVAL) {
|
|
||||||
samplingInterval = MINIMUM_SAMPLING_INTERVAL;
|
|
||||||
}
|
|
||||||
|
|
||||||
samplingInterval -= 1;
|
|
||||||
Firmata.sendString("sampling interval");
|
|
||||||
}
|
|
||||||
|
|
||||||
else if (command == I2C_CONFIG) {
|
|
||||||
delayTime = (argv[4] + (argv[5] << 7)); // MSB
|
|
||||||
delayTime = (delayTime << 8) + (argv[2] + (argv[3] << 7)); // add LSB
|
|
||||||
|
|
||||||
if((argv[0] + (argv[1] << 7)) > 0) {
|
|
||||||
enablePowerPins(PORTC3, PORTC2);
|
|
||||||
}
|
|
||||||
|
|
||||||
if(delayTime > 0) {
|
|
||||||
i2cReadDelayTime = delayTime;
|
|
||||||
}
|
|
||||||
|
|
||||||
if(argc > 6) {
|
|
||||||
// If you extend I2C_Config, handle your data here
|
|
||||||
}
|
|
||||||
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
void systemResetCallback()
|
|
||||||
{
|
|
||||||
readingContinuously = false;
|
|
||||||
queryIndex = 0;
|
|
||||||
}
|
|
||||||
|
|
||||||
/* reference: BlinkM_funcs.h by Tod E. Kurt, ThingM, http://thingm.com/ */
|
|
||||||
// Enables Pins A2 and A3 to be used as GND and Power
|
|
||||||
// so that I2C devices can be plugged directly
|
|
||||||
// into Arduino header (pins A2 - A5)
|
|
||||||
static void enablePowerPins(byte pwrpin, byte gndpin)
|
|
||||||
{
|
|
||||||
if(powerPinsEnabled == 0) {
|
|
||||||
DDRC |= _BV(pwrpin) | _BV(gndpin);
|
|
||||||
PORTC &=~ _BV(gndpin);
|
|
||||||
PORTC |= _BV(pwrpin);
|
|
||||||
powerPinsEnabled = 1;
|
|
||||||
Firmata.sendString("Power pins enabled");
|
|
||||||
delay(100);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
void setup()
|
|
||||||
{
|
|
||||||
Firmata.setFirmwareVersion(2, 0);
|
|
||||||
|
|
||||||
Firmata.attach(START_SYSEX, sysexCallback);
|
|
||||||
Firmata.attach(SYSTEM_RESET, systemResetCallback);
|
|
||||||
|
|
||||||
for (int i = 0; i < TOTAL_PINS; ++i) {
|
|
||||||
pinMode(i, OUTPUT);
|
|
||||||
}
|
|
||||||
|
|
||||||
Firmata.begin(57600);
|
|
||||||
Wire.begin();
|
|
||||||
}
|
|
||||||
|
|
||||||
void loop()
|
|
||||||
{
|
|
||||||
while (Firmata.available()) {
|
|
||||||
Firmata.processInput();
|
|
||||||
}
|
|
||||||
|
|
||||||
currentMillis = millis();
|
|
||||||
if (currentMillis - previousMillis > samplingInterval) {
|
|
||||||
previousMillis += samplingInterval;
|
|
||||||
|
|
||||||
for (byte i = 0; i < queryIndex; i++) {
|
|
||||||
readAndReportData(query[i].addr, query[i].reg, query[i].bytes);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
@ -1,458 +0,0 @@
|
||||||
|
|
||||||
GNU LESSER GENERAL PUBLIC LICENSE
|
|
||||||
Version 2.1, February 1999
|
|
||||||
|
|
||||||
Copyright (C) 1991, 1999 Free Software Foundation, Inc.
|
|
||||||
51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
|
|
||||||
Everyone is permitted to copy and distribute verbatim copies
|
|
||||||
of this license document, but changing it is not allowed.
|
|
||||||
|
|
||||||
[This is the first released version of the Lesser GPL. It also counts
|
|
||||||
as the successor of the GNU Library Public License, version 2, hence
|
|
||||||
the version number 2.1.]
|
|
||||||
|
|
||||||
Preamble
|
|
||||||
|
|
||||||
The licenses for most software are designed to take away your
|
|
||||||
freedom to share and change it. By contrast, the GNU General Public
|
|
||||||
Licenses are intended to guarantee your freedom to share and change
|
|
||||||
free software--to make sure the software is free for all its users.
|
|
||||||
|
|
||||||
This license, the Lesser General Public License, applies to some
|
|
||||||
specially designated software packages--typically libraries--of the
|
|
||||||
Free Software Foundation and other authors who decide to use it. You
|
|
||||||
can use it too, but we suggest you first think carefully about whether
|
|
||||||
this license or the ordinary General Public License is the better
|
|
||||||
strategy to use in any particular case, based on the explanations below.
|
|
||||||
|
|
||||||
When we speak of free software, we are referring to freedom of use,
|
|
||||||
not price. Our General Public Licenses are designed to make sure that
|
|
||||||
you have the freedom to distribute copies of free software (and charge
|
|
||||||
for this service if you wish); that you receive source code or can get
|
|
||||||
it if you want it; that you can change the software and use pieces of
|
|
||||||
it in new free programs; and that you are informed that you can do
|
|
||||||
these things.
|
|
||||||
|
|
||||||
To protect your rights, we need to make restrictions that forbid
|
|
||||||
distributors to deny you these rights or to ask you to surrender these
|
|
||||||
rights. These restrictions translate to certain responsibilities for
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|
||||||
you if you distribute copies of the library or if you modify it.
|
|
||||||
|
|
||||||
For example, if you distribute copies of the library, whether gratis
|
|
||||||
or for a fee, you must give the recipients all the rights that we gave
|
|
||||||
you. You must make sure that they, too, receive or can get the source
|
|
||||||
code. If you link other code with the library, you must provide
|
|
||||||
complete object files to the recipients, so that they can relink them
|
|
||||||
with the library after making changes to the library and recompiling
|
|
||||||
it. And you must show them these terms so they know their rights.
|
|
||||||
|
|
||||||
We protect your rights with a two-step method: (1) we copyright the
|
|
||||||
library, and (2) we offer you this license, which gives you legal
|
|
||||||
permission to copy, distribute and/or modify the library.
|
|
||||||
|
|
||||||
To protect each distributor, we want to make it very clear that
|
|
||||||
there is no warranty for the free library. Also, if the library is
|
|
||||||
modified by someone else and passed on, the recipients should know
|
|
||||||
that what they have is not the original version, so that the original
|
|
||||||
author's reputation will not be affected by problems that might be
|
|
||||||
introduced by others.
|
|
||||||
|
|
||||||
Finally, software patents pose a constant threat to the existence of
|
|
||||||
any free program. We wish to make sure that a company cannot
|
|
||||||
effectively restrict the users of a free program by obtaining a
|
|
||||||
restrictive license from a patent holder. Therefore, we insist that
|
|
||||||
any patent license obtained for a version of the library must be
|
|
||||||
consistent with the full freedom of use specified in this license.
|
|
||||||
|
|
||||||
Most GNU software, including some libraries, is covered by the
|
|
||||||
ordinary GNU General Public License. This license, the GNU Lesser
|
|
||||||
General Public License, applies to certain designated libraries, and
|
|
||||||
is quite different from the ordinary General Public License. We use
|
|
||||||
this license for certain libraries in order to permit linking those
|
|
||||||
libraries into non-free programs.
|
|
||||||
|
|
||||||
When a program is linked with a library, whether statically or using
|
|
||||||
a shared library, the combination of the two is legally speaking a
|
|
||||||
combined work, a derivative of the original library. The ordinary
|
|
||||||
General Public License therefore permits such linking only if the
|
|
||||||
entire combination fits its criteria of freedom. The Lesser General
|
|
||||||
Public License permits more lax criteria for linking other code with
|
|
||||||
the library.
|
|
||||||
|
|
||||||
We call this license the "Lesser" General Public License because it
|
|
||||||
does Less to protect the user's freedom than the ordinary General
|
|
||||||
Public License. It also provides other free software developers Less
|
|
||||||
of an advantage over competing non-free programs. These disadvantages
|
|
||||||
are the reason we use the ordinary General Public License for many
|
|
||||||
libraries. However, the Lesser license provides advantages in certain
|
|
||||||
special circumstances.
|
|
||||||
|
|
||||||
For example, on rare occasions, there may be a special need to
|
|
||||||
encourage the widest possible use of a certain library, so that it becomes
|
|
||||||
a de-facto standard. To achieve this, non-free programs must be
|
|
||||||
allowed to use the library. A more frequent case is that a free
|
|
||||||
library does the same job as widely used non-free libraries. In this
|
|
||||||
case, there is little to gain by limiting the free library to free
|
|
||||||
software only, so we use the Lesser General Public License.
|
|
||||||
|
|
||||||
In other cases, permission to use a particular library in non-free
|
|
||||||
programs enables a greater number of people to use a large body of
|
|
||||||
free software. For example, permission to use the GNU C Library in
|
|
||||||
non-free programs enables many more people to use the whole GNU
|
|
||||||
operating system, as well as its variant, the GNU/Linux operating
|
|
||||||
system.
|
|
||||||
|
|
||||||
Although the Lesser General Public License is Less protective of the
|
|
||||||
users' freedom, it does ensure that the user of a program that is
|
|
||||||
linked with the Library has the freedom and the wherewithal to run
|
|
||||||
that program using a modified version of the Library.
|
|
||||||
|
|
||||||
The precise terms and conditions for copying, distribution and
|
|
||||||
modification follow. Pay close attention to the difference between a
|
|
||||||
"work based on the library" and a "work that uses the library". The
|
|
||||||
former contains code derived from the library, whereas the latter must
|
|
||||||
be combined with the library in order to run.
|
|
||||||
|
|
||||||
GNU LESSER GENERAL PUBLIC LICENSE
|
|
||||||
TERMS AND CONDITIONS FOR COPYING, DISTRIBUTION AND MODIFICATION
|
|
||||||
|
|
||||||
0. This License Agreement applies to any software library or other
|
|
||||||
program which contains a notice placed by the copyright holder or
|
|
||||||
other authorized party saying it may be distributed under the terms of
|
|
||||||
this Lesser General Public License (also called "this License").
|
|
||||||
Each licensee is addressed as "you".
|
|
||||||
|
|
||||||
A "library" means a collection of software functions and/or data
|
|
||||||
prepared so as to be conveniently linked with application programs
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|
||||||
(which use some of those functions and data) to form executables.
|
|
||||||
|
|
||||||
The "Library", below, refers to any such software library or work
|
|
||||||
which has been distributed under these terms. A "work based on the
|
|
||||||
Library" means either the Library or any derivative work under
|
|
||||||
copyright law: that is to say, a work containing the Library or a
|
|
||||||
portion of it, either verbatim or with modifications and/or translated
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|
||||||
straightforwardly into another language. (Hereinafter, translation is
|
|
||||||
included without limitation in the term "modification".)
|
|
||||||
|
|
||||||
"Source code" for a work means the preferred form of the work for
|
|
||||||
making modifications to it. For a library, complete source code means
|
|
||||||
all the source code for all modules it contains, plus any associated
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|
||||||
interface definition files, plus the scripts used to control compilation
|
|
||||||
and installation of the library.
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|
||||||
|
|
||||||
Activities other than copying, distribution and modification are not
|
|
||||||
covered by this License; they are outside its scope. The act of
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|
||||||
running a program using the Library is not restricted, and output from
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|
||||||
such a program is covered only if its contents constitute a work based
|
|
||||||
on the Library (independent of the use of the Library in a tool for
|
|
||||||
writing it). Whether that is true depends on what the Library does
|
|
||||||
and what the program that uses the Library does.
|
|
||||||
|
|
||||||
1. You may copy and distribute verbatim copies of the Library's
|
|
||||||
complete source code as you receive it, in any medium, provided that
|
|
||||||
you conspicuously and appropriately publish on each copy an
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|
||||||
appropriate copyright notice and disclaimer of warranty; keep intact
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|
||||||
all the notices that refer to this License and to the absence of any
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|
||||||
warranty; and distribute a copy of this License along with the
|
|
||||||
Library.
|
|
||||||
|
|
||||||
You may charge a fee for the physical act of transferring a copy,
|
|
||||||
and you may at your option offer warranty protection in exchange for a
|
|
||||||
fee.
|
|
||||||
|
|
||||||
2. You may modify your copy or copies of the Library or any portion
|
|
||||||
of it, thus forming a work based on the Library, and copy and
|
|
||||||
distribute such modifications or work under the terms of Section 1
|
|
||||||
above, provided that you also meet all of these conditions:
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|
||||||
|
|
||||||
a) The modified work must itself be a software library.
|
|
||||||
|
|
||||||
b) You must cause the files modified to carry prominent notices
|
|
||||||
stating that you changed the files and the date of any change.
|
|
||||||
|
|
||||||
c) You must cause the whole of the work to be licensed at no
|
|
||||||
charge to all third parties under the terms of this License.
|
|
||||||
|
|
||||||
d) If a facility in the modified Library refers to a function or a
|
|
||||||
table of data to be supplied by an application program that uses
|
|
||||||
the facility, other than as an argument passed when the facility
|
|
||||||
is invoked, then you must make a good faith effort to ensure that,
|
|
||||||
in the event an application does not supply such function or
|
|
||||||
table, the facility still operates, and performs whatever part of
|
|
||||||
its purpose remains meaningful.
|
|
||||||
|
|
||||||
(For example, a function in a library to compute square roots has
|
|
||||||
a purpose that is entirely well-defined independent of the
|
|
||||||
application. Therefore, Subsection 2d requires that any
|
|
||||||
application-supplied function or table used by this function must
|
|
||||||
be optional: if the application does not supply it, the square
|
|
||||||
root function must still compute square roots.)
|
|
||||||
|
|
||||||
These requirements apply to the modified work as a whole. If
|
|
||||||
identifiable sections of that work are not derived from the Library,
|
|
||||||
and can be reasonably considered independent and separate works in
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|
||||||
themselves, then this License, and its terms, do not apply to those
|
|
||||||
sections when you distribute them as separate works. But when you
|
|
||||||
distribute the same sections as part of a whole which is a work based
|
|
||||||
on the Library, the distribution of the whole must be on the terms of
|
|
||||||
this License, whose permissions for other licensees extend to the
|
|
||||||
entire whole, and thus to each and every part regardless of who wrote
|
|
||||||
it.
|
|
||||||
|
|
||||||
Thus, it is not the intent of this section to claim rights or contest
|
|
||||||
your rights to work written entirely by you; rather, the intent is to
|
|
||||||
exercise the right to control the distribution of derivative or
|
|
||||||
collective works based on the Library.
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|
||||||
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|
||||||
In addition, mere aggregation of another work not based on the Library
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|
||||||
with the Library (or with a work based on the Library) on a volume of
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|
||||||
a storage or distribution medium does not bring the other work under
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|
||||||
the scope of this License.
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|
||||||
|
|
||||||
3. You may opt to apply the terms of the ordinary GNU General Public
|
|
||||||
License instead of this License to a given copy of the Library. To do
|
|
||||||
this, you must alter all the notices that refer to this License, so
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|
||||||
that they refer to the ordinary GNU General Public License, version 2,
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|
||||||
instead of to this License. (If a newer version than version 2 of the
|
|
||||||
ordinary GNU General Public License has appeared, then you can specify
|
|
||||||
that version instead if you wish.) Do not make any other change in
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|
||||||
these notices.
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|
||||||
|
|
||||||
Once this change is made in a given copy, it is irreversible for
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|
||||||
that copy, so the ordinary GNU General Public License applies to all
|
|
||||||
subsequent copies and derivative works made from that copy.
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|
||||||
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|
||||||
This option is useful when you wish to copy part of the code of
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|
||||||
the Library into a program that is not a library.
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|
||||||
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|
||||||
4. You may copy and distribute the Library (or a portion or
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|
||||||
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|
||||||
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|
||||||
it with the complete corresponding machine-readable source code, which
|
|
||||||
must be distributed under the terms of Sections 1 and 2 above on a
|
|
||||||
medium customarily used for software interchange.
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|
||||||
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|
||||||
If distribution of object code is made by offering access to copy
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|
||||||
from a designated place, then offering equivalent access to copy the
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|
||||||
source code from the same place satisfies the requirement to
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|
||||||
distribute the source code, even though third parties are not
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|
||||||
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|
||||||
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|
||||||
5. A program that contains no derivative of any portion of the
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|
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|
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|
||||||
work, in isolation, is not a derivative work of the Library, and
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|
||||||
therefore falls outside the scope of this License.
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|
||||||
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|
||||||
However, linking a "work that uses the Library" with the Library
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|
||||||
creates an executable that is a derivative of the Library (because it
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|
||||||
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|
||||||
library". The executable is therefore covered by this License.
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|
||||||
Section 6 states terms for distribution of such executables.
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|
||||||
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|
||||||
When a "work that uses the Library" uses material from a header file
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|
||||||
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|
||||||
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|
||||||
Whether this is true is especially significant if the work can be
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|
||||||
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|
||||||
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|
||||||
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|
||||||
If such an object file uses only numerical parameters, data
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|
||||||
structure layouts and accessors, and small macros and small inline
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|
||||||
functions (ten lines or less in length), then the use of the object
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|
||||||
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|
||||||
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|
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|
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|
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Otherwise, if the work is a derivative of the Library, you may
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|
||||||
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|
||||||
Any executables containing that work also fall under Section 6,
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|
||||||
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|
||||||
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|
||||||
6. As an exception to the Sections above, you may also combine or
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|
||||||
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|
||||||
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|
||||||
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|
||||||
modification of the work for the customer's own use and reverse
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|
||||||
engineering for debugging such modifications.
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|
||||||
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|
||||||
You must give prominent notice with each copy of the work that the
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|
||||||
Library is used in it and that the Library and its use are covered by
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|
||||||
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|
||||||
during execution displays copyright notices, you must include the
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
a) Accompany the work with the complete corresponding
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|
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|
||||||
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|
||||||
Sections 1 and 2 above); and, if the work is an executable linked
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|
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|
||||||
uses the Library", as object code and/or source code, so that the
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|
||||||
user can modify the Library and then relink to produce a modified
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|
||||||
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|
||||||
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||||||
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|
||||||
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|
||||||
|
|
||||||
b) Use a suitable shared library mechanism for linking with the
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|
||||||
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,
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|
||||||
rather than copying library functions into the executable, and (2)
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|
||||||
will operate properly with a modified version of the library, if
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|
||||||
the user installs one, as long as the modified version is
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|
||||||
interface-compatible with the version that the work was made with.
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|
||||||
|
|
||||||
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.
|
|
||||||
|
|
||||||
|
|
@ -1,239 +0,0 @@
|
||||||
/*
|
|
||||||
* 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.
|
|
||||||
|
|
||||||
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_PINS]; // store pin status, default OUTPUT
|
|
||||||
byte portStatus[TOTAL_PORTS];
|
|
||||||
|
|
||||||
/* timer variables */
|
|
||||||
unsigned long currentMillis; // store the current value from millis()
|
|
||||||
unsigned long previousMillis; // 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 2: outputPort(2, 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 == 2) // 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_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[2]) outputPort(2, 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 - previousMillis > 20) {
|
|
||||||
previousMillis += 20; // 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));
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
@ -1,53 +0,0 @@
|
||||||
/*
|
|
||||||
* 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
|
|
||||||
*
|
|
||||||
* TODO add message to configure minPulse/maxPulse/degrees
|
|
||||||
*
|
|
||||||
* This example code is in the public domain.
|
|
||||||
*/
|
|
||||||
|
|
||||||
#include <Servo.h>
|
|
||||||
#include <Firmata.h>
|
|
||||||
|
|
||||||
Servo servos[MAX_SERVOS];
|
|
||||||
|
|
||||||
void analogWriteCallback(byte pin, int value)
|
|
||||||
{
|
|
||||||
if (IS_PIN_SERVO(pin)) {
|
|
||||||
servos[PIN_TO_SERVO(pin)].write(value);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
void setup()
|
|
||||||
{
|
|
||||||
byte pin;
|
|
||||||
|
|
||||||
Firmata.setFirmwareVersion(0, 2);
|
|
||||||
Firmata.attach(ANALOG_MESSAGE, analogWriteCallback);
|
|
||||||
|
|
||||||
for (pin=0; pin < TOTAL_PINS; pin++) {
|
|
||||||
if (IS_PIN_SERVO(pin)) {
|
|
||||||
servos[PIN_TO_SERVO(pin)].attach(PIN_TO_DIGITAL(pin));
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
Firmata.begin(57600);
|
|
||||||
}
|
|
||||||
|
|
||||||
void loop()
|
|
||||||
{
|
|
||||||
while(Firmata.available())
|
|
||||||
Firmata.processInput();
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
@ -1,46 +0,0 @@
|
||||||
/*
|
|
||||||
* 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.
|
|
||||||
*/
|
|
||||||
#include <Firmata.h>
|
|
||||||
|
|
||||||
byte analogPin = 0;
|
|
||||||
|
|
||||||
void analogWriteCallback(byte pin, int value)
|
|
||||||
{
|
|
||||||
if (IS_PIN_PWM(pin)) {
|
|
||||||
pinMode(PIN_TO_DIGITAL(pin), OUTPUT);
|
|
||||||
analogWrite(PIN_TO_PWM(pin), value);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
void setup()
|
|
||||||
{
|
|
||||||
Firmata.setFirmwareVersion(0, 1);
|
|
||||||
Firmata.attach(ANALOG_MESSAGE, analogWriteCallback);
|
|
||||||
Firmata.begin(57600);
|
|
||||||
}
|
|
||||||
|
|
||||||
void loop()
|
|
||||||
{
|
|
||||||
while(Firmata.available()) {
|
|
||||||
Firmata.processInput();
|
|
||||||
}
|
|
||||||
// do one analogRead per loop, so if PC is sending a lot of
|
|
||||||
// analog write messages, we will only delay 1 analogRead
|
|
||||||
Firmata.sendAnalog(analogPin, analogRead(analogPin));
|
|
||||||
analogPin = analogPin + 1;
|
|
||||||
if (analogPin >= TOTAL_ANALOG_PINS) analogPin = 0;
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
@ -1,72 +0,0 @@
|
||||||
/*
|
|
||||||
* 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.
|
|
||||||
*/
|
|
||||||
#include <Firmata.h>
|
|
||||||
|
|
||||||
byte previousPIN[TOTAL_PORTS]; // PIN means PORT for input
|
|
||||||
byte previousPORT[TOTAL_PORTS];
|
|
||||||
|
|
||||||
void outputPort(byte portNumber, byte portValue)
|
|
||||||
{
|
|
||||||
// only send the data when it changes, otherwise you get too many messages!
|
|
||||||
if (previousPIN[portNumber] != portValue) {
|
|
||||||
Firmata.sendDigitalPort(portNumber, portValue);
|
|
||||||
previousPIN[portNumber] = portValue;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
void setPinModeCallback(byte pin, int mode) {
|
|
||||||
if (IS_PIN_DIGITAL(pin)) {
|
|
||||||
pinMode(PIN_TO_DIGITAL(pin), mode);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
void digitalWriteCallback(byte port, int value)
|
|
||||||
{
|
|
||||||
byte i;
|
|
||||||
byte currentPinValue, previousPinValue;
|
|
||||||
|
|
||||||
if (port < TOTAL_PORTS && value != previousPORT[port]) {
|
|
||||||
for(i=0; i<8; i++) {
|
|
||||||
currentPinValue = (byte) value & (1 << i);
|
|
||||||
previousPinValue = previousPORT[port] & (1 << i);
|
|
||||||
if(currentPinValue != previousPinValue) {
|
|
||||||
digitalWrite(i + (port*8), currentPinValue);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
previousPORT[port] = value;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
void setup()
|
|
||||||
{
|
|
||||||
Firmata.setFirmwareVersion(0, 1);
|
|
||||||
Firmata.attach(DIGITAL_MESSAGE, digitalWriteCallback);
|
|
||||||
Firmata.attach(SET_PIN_MODE, setPinModeCallback);
|
|
||||||
Firmata.begin(57600);
|
|
||||||
}
|
|
||||||
|
|
||||||
void loop()
|
|
||||||
{
|
|
||||||
byte i;
|
|
||||||
|
|
||||||
for (i=0; i<TOTAL_PORTS; i++) {
|
|
||||||
outputPort(i, readPort(i, 0xff));
|
|
||||||
}
|
|
||||||
|
|
||||||
while(Firmata.available()) {
|
|
||||||
Firmata.processInput();
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
@ -1,458 +0,0 @@
|
||||||
|
|
||||||
GNU LESSER GENERAL PUBLIC LICENSE
|
|
||||||
Version 2.1, February 1999
|
|
||||||
|
|
||||||
Copyright (C) 1991, 1999 Free Software Foundation, Inc.
|
|
||||||
51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
|
|
||||||
Everyone is permitted to copy and distribute verbatim copies
|
|
||||||
of this license document, but changing it is not allowed.
|
|
||||||
|
|
||||||
[This is the first released version of the Lesser GPL. It also counts
|
|
||||||
as the successor of the GNU Library Public License, version 2, hence
|
|
||||||
the version number 2.1.]
|
|
||||||
|
|
||||||
Preamble
|
|
||||||
|
|
||||||
The licenses for most software are designed to take away your
|
|
||||||
freedom to share and change it. By contrast, the GNU General Public
|
|
||||||
Licenses are intended to guarantee your freedom to share and change
|
|
||||||
free software--to make sure the software is free for all its users.
|
|
||||||
|
|
||||||
This license, the Lesser General Public License, applies to some
|
|
||||||
specially designated software packages--typically libraries--of the
|
|
||||||
Free Software Foundation and other authors who decide to use it. You
|
|
||||||
can use it too, but we suggest you first think carefully about whether
|
|
||||||
this license or the ordinary General Public License is the better
|
|
||||||
strategy to use in any particular case, based on the explanations below.
|
|
||||||
|
|
||||||
When we speak of free software, we are referring to freedom of use,
|
|
||||||
not price. Our General Public Licenses are designed to make sure that
|
|
||||||
you have the freedom to distribute copies of free software (and charge
|
|
||||||
for this service if you wish); that you receive source code or can get
|
|
||||||
it if you want it; that you can change the software and use pieces of
|
|
||||||
it in new free programs; and that you are informed that you can do
|
|
||||||
these things.
|
|
||||||
|
|
||||||
To protect your rights, we need to make restrictions that forbid
|
|
||||||
distributors to deny you these rights or to ask you to surrender these
|
|
||||||
rights. These restrictions translate to certain responsibilities for
|
|
||||||
you if you distribute copies of the library or if you modify it.
|
|
||||||
|
|
||||||
For example, if you distribute copies of the library, whether gratis
|
|
||||||
or for a fee, you must give the recipients all the rights that we gave
|
|
||||||
you. You must make sure that they, too, receive or can get the source
|
|
||||||
code. If you link other code with the library, you must provide
|
|
||||||
complete object files to the recipients, so that they can relink them
|
|
||||||
with the library after making changes to the library and recompiling
|
|
||||||
it. And you must show them these terms so they know their rights.
|
|
||||||
|
|
||||||
We protect your rights with a two-step method: (1) we copyright the
|
|
||||||
library, and (2) we offer you this license, which gives you legal
|
|
||||||
permission to copy, distribute and/or modify the library.
|
|
||||||
|
|
||||||
To protect each distributor, we want to make it very clear that
|
|
||||||
there is no warranty for the free library. Also, if the library is
|
|
||||||
modified by someone else and passed on, the recipients should know
|
|
||||||
that what they have is not the original version, so that the original
|
|
||||||
author's reputation will not be affected by problems that might be
|
|
||||||
introduced by others.
|
|
||||||
|
|
||||||
Finally, software patents pose a constant threat to the existence of
|
|
||||||
any free program. We wish to make sure that a company cannot
|
|
||||||
effectively restrict the users of a free program by obtaining a
|
|
||||||
restrictive license from a patent holder. Therefore, we insist that
|
|
||||||
any patent license obtained for a version of the library must be
|
|
||||||
consistent with the full freedom of use specified in this license.
|
|
||||||
|
|
||||||
Most GNU software, including some libraries, is covered by the
|
|
||||||
ordinary GNU General Public License. This license, the GNU Lesser
|
|
||||||
General Public License, applies to certain designated libraries, and
|
|
||||||
is quite different from the ordinary General Public License. We use
|
|
||||||
this license for certain libraries in order to permit linking those
|
|
||||||
libraries into non-free programs.
|
|
||||||
|
|
||||||
When a program is linked with a library, whether statically or using
|
|
||||||
a shared library, the combination of the two is legally speaking a
|
|
||||||
combined work, a derivative of the original library. The ordinary
|
|
||||||
General Public License therefore permits such linking only if the
|
|
||||||
entire combination fits its criteria of freedom. The Lesser General
|
|
||||||
Public License permits more lax criteria for linking other code with
|
|
||||||
the library.
|
|
||||||
|
|
||||||
We call this license the "Lesser" General Public License because it
|
|
||||||
does Less to protect the user's freedom than the ordinary General
|
|
||||||
Public License. It also provides other free software developers Less
|
|
||||||
of an advantage over competing non-free programs. These disadvantages
|
|
||||||
are the reason we use the ordinary General Public License for many
|
|
||||||
libraries. However, the Lesser license provides advantages in certain
|
|
||||||
special circumstances.
|
|
||||||
|
|
||||||
For example, on rare occasions, there may be a special need to
|
|
||||||
encourage the widest possible use of a certain library, so that it becomes
|
|
||||||
a de-facto standard. To achieve this, non-free programs must be
|
|
||||||
allowed to use the library. A more frequent case is that a free
|
|
||||||
library does the same job as widely used non-free libraries. In this
|
|
||||||
case, there is little to gain by limiting the free library to free
|
|
||||||
software only, so we use the Lesser General Public License.
|
|
||||||
|
|
||||||
In other cases, permission to use a particular library in non-free
|
|
||||||
programs enables a greater number of people to use a large body of
|
|
||||||
free software. For example, permission to use the GNU C Library in
|
|
||||||
non-free programs enables many more people to use the whole GNU
|
|
||||||
operating system, as well as its variant, the GNU/Linux operating
|
|
||||||
system.
|
|
||||||
|
|
||||||
Although the Lesser General Public License is Less protective of the
|
|
||||||
users' freedom, it does ensure that the user of a program that is
|
|
||||||
linked with the Library has the freedom and the wherewithal to run
|
|
||||||
that program using a modified version of the Library.
|
|
||||||
|
|
||||||
The precise terms and conditions for copying, distribution and
|
|
||||||
modification follow. Pay close attention to the difference between a
|
|
||||||
"work based on the library" and a "work that uses the library". The
|
|
||||||
former contains code derived from the library, whereas the latter must
|
|
||||||
be combined with the library in order to run.
|
|
||||||
|
|
||||||
GNU LESSER GENERAL PUBLIC LICENSE
|
|
||||||
TERMS AND CONDITIONS FOR COPYING, DISTRIBUTION AND MODIFICATION
|
|
||||||
|
|
||||||
0. This License Agreement applies to any software library or other
|
|
||||||
program which contains a notice placed by the copyright holder or
|
|
||||||
other authorized party saying it may be distributed under the terms of
|
|
||||||
this Lesser General Public License (also called "this License").
|
|
||||||
Each licensee is addressed as "you".
|
|
||||||
|
|
||||||
A "library" means a collection of software functions and/or data
|
|
||||||
prepared so as to be conveniently linked with application programs
|
|
||||||
(which use some of those functions and data) to form executables.
|
|
||||||
|
|
||||||
The "Library", below, refers to any such software library or work
|
|
||||||
which has been distributed under these terms. A "work based on the
|
|
||||||
Library" means either the Library or any derivative work under
|
|
||||||
copyright law: that is to say, a work containing the Library or a
|
|
||||||
portion of it, either verbatim or with modifications and/or translated
|
|
||||||
straightforwardly into another language. (Hereinafter, translation is
|
|
||||||
included without limitation in the term "modification".)
|
|
||||||
|
|
||||||
"Source code" for a work means the preferred form of the work for
|
|
||||||
making modifications to it. For a library, complete source code means
|
|
||||||
all the source code for all modules it contains, plus any associated
|
|
||||||
interface definition files, plus the scripts used to control compilation
|
|
||||||
and installation of the library.
|
|
||||||
|
|
||||||
Activities other than copying, distribution and modification are not
|
|
||||||
covered by this License; they are outside its scope. The act of
|
|
||||||
running a program using the Library is not restricted, and output from
|
|
||||||
such a program is covered only if its contents constitute a work based
|
|
||||||
on the Library (independent of the use of the Library in a tool for
|
|
||||||
writing it). Whether that is true depends on what the Library does
|
|
||||||
and what the program that uses the Library does.
|
|
||||||
|
|
||||||
1. You may copy and distribute verbatim copies of the Library's
|
|
||||||
complete source code as you receive it, in any medium, provided that
|
|
||||||
you conspicuously and appropriately publish on each copy an
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|
||||||
appropriate copyright notice and disclaimer of warranty; keep intact
|
|
||||||
all the notices that refer to this License and to the absence of any
|
|
||||||
warranty; and distribute a copy of this License along with the
|
|
||||||
Library.
|
|
||||||
|
|
||||||
You may charge a fee for the physical act of transferring a copy,
|
|
||||||
and you may at your option offer warranty protection in exchange for a
|
|
||||||
fee.
|
|
||||||
|
|
||||||
2. You may modify your copy or copies of the Library or any portion
|
|
||||||
of it, thus forming a work based on the Library, and copy and
|
|
||||||
distribute such modifications or work under the terms of Section 1
|
|
||||||
above, provided that you also meet all of these conditions:
|
|
||||||
|
|
||||||
a) The modified work must itself be a software library.
|
|
||||||
|
|
||||||
b) You must cause the files modified to carry prominent notices
|
|
||||||
stating that you changed the files and the date of any change.
|
|
||||||
|
|
||||||
c) You must cause the whole of the work to be licensed at no
|
|
||||||
charge to all third parties under the terms of this License.
|
|
||||||
|
|
||||||
d) If a facility in the modified Library refers to a function or a
|
|
||||||
table of data to be supplied by an application program that uses
|
|
||||||
the facility, other than as an argument passed when the facility
|
|
||||||
is invoked, then you must make a good faith effort to ensure that,
|
|
||||||
in the event an application does not supply such function or
|
|
||||||
table, the facility still operates, and performs whatever part of
|
|
||||||
its purpose remains meaningful.
|
|
||||||
|
|
||||||
(For example, a function in a library to compute square roots has
|
|
||||||
a purpose that is entirely well-defined independent of the
|
|
||||||
application. Therefore, Subsection 2d requires that any
|
|
||||||
application-supplied function or table used by this function must
|
|
||||||
be optional: if the application does not supply it, the square
|
|
||||||
root function must still compute square roots.)
|
|
||||||
|
|
||||||
These requirements apply to the modified work as a whole. If
|
|
||||||
identifiable sections of that work are not derived from the Library,
|
|
||||||
and can be reasonably considered independent and separate works in
|
|
||||||
themselves, then this License, and its terms, do not apply to those
|
|
||||||
sections when you distribute them as separate works. But when you
|
|
||||||
distribute the same sections as part of a whole which is a work based
|
|
||||||
on the Library, the distribution of the whole must be on the terms of
|
|
||||||
this License, whose permissions for other licensees extend to the
|
|
||||||
entire whole, and thus to each and every part regardless of who wrote
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|
||||||
it.
|
|
||||||
|
|
||||||
Thus, it is not the intent of this section to claim rights or contest
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|
||||||
your rights to work written entirely by you; rather, the intent is to
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|
||||||
exercise the right to control the distribution of derivative or
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|
||||||
collective works based on the Library.
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||||||
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|
||||||
In addition, mere aggregation of another work not based on the Library
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||||||
with the Library (or with a work based on the Library) on a volume of
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|
||||||
a storage or distribution medium does not bring the other work under
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|
||||||
the scope of this License.
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|
||||||
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|
||||||
3. You may opt to apply the terms of the ordinary GNU General Public
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|
||||||
License instead of this License to a given copy of the Library. To do
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|
||||||
this, you must alter all the notices that refer to this License, so
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|
||||||
that they refer to the ordinary GNU General Public License, version 2,
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|
||||||
instead of to this License. (If a newer version than version 2 of the
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|
||||||
ordinary GNU General Public License has appeared, then you can specify
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|
||||||
that version instead if you wish.) Do not make any other change in
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|
||||||
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|
||||||
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|
||||||
Once this change is made in a given copy, it is irreversible for
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|
||||||
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|
||||||
subsequent copies and derivative works made from that copy.
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|
||||||
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|
||||||
This option is useful when you wish to copy part of the code of
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the Library into a program that is not a library.
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||||||
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|
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4. You may copy and distribute the Library (or a portion or
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|
||||||
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||||||
under the terms of Sections 1 and 2 above provided that you accompany
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|
||||||
it with the complete corresponding machine-readable source code, which
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|
||||||
must be distributed under the terms of Sections 1 and 2 above on a
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|
||||||
medium customarily used for software interchange.
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|
||||||
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|
||||||
If distribution of object code is made by offering access to copy
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|
||||||
from a designated place, then offering equivalent access to copy the
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|
||||||
source code from the same place satisfies the requirement to
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|
||||||
distribute the source code, even though third parties are not
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|
||||||
compelled to copy the source along with the object code.
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|
||||||
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|
||||||
5. A program that contains no derivative of any portion of the
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Library, but is designed to work with the Library by being compiled or
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||||||
linked with it, is called a "work that uses the Library". Such a
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|
||||||
therefore falls outside the scope of this License.
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|
||||||
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|
||||||
However, linking a "work that uses the Library" with the Library
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|
||||||
creates an executable that is a derivative of the Library (because it
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|
||||||
contains portions of the Library), rather than a "work that uses the
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|
||||||
library". The executable is therefore covered by this License.
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|
||||||
Section 6 states terms for distribution of such executables.
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|
||||||
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|
||||||
When a "work that uses the Library" uses material from a header file
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|
||||||
that is part of the Library, the object code for the work may be a
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||||||
derivative work of the Library even though the source code is not.
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|
||||||
Whether this is true is especially significant if the work can be
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|
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|
||||||
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|
||||||
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|
||||||
If such an object file uses only numerical parameters, data
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|
||||||
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
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|
||||||
Library will still fall under Section 6.)
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|
||||||
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|
||||||
Otherwise, if the work is a derivative of the Library, you may
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|
||||||
distribute the object code for the work under the terms of Section 6.
|
|
||||||
Any executables containing that work also fall under Section 6,
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|
||||||
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
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|
||||||
under terms of your choice, provided that the terms permit
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|
||||||
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
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|
||||||
copyright notice for the Library among them, as well as a reference
|
|
||||||
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|
||||||
of these things:
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|
||||||
|
|
||||||
a) Accompany the work with the complete corresponding
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|
||||||
machine-readable source code for the Library including whatever
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|
||||||
changes were used in the work (which must be distributed under
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|
||||||
Sections 1 and 2 above); and, if the work is an executable linked
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|
||||||
with the Library, with the complete machine-readable "work that
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|
||||||
uses the Library", as object code and/or source code, so that the
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|
||||||
user can modify the Library and then relink to produce a modified
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|
||||||
executable containing the modified Library. (It is understood
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|
||||||
that the user who changes the contents of definitions files in the
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|
||||||
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)
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|
||||||
will operate properly with a modified version of the library, if
|
|
||||||
the user installs one, as long as the modified version is
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|
||||||
interface-compatible with the version that the work was made with.
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|
||||||
|
|
||||||
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
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|
||||||
from a designated place, offer equivalent access to copy the above
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|
||||||
specified materials from the same place.
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|
||||||
|
|
||||||
e) Verify that the user has already received a copy of these
|
|
||||||
materials or that you have already sent this user a copy.
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|
||||||
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|
||||||
For an executable, the required form of the "work that uses the
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|
||||||
Library" must include any data and utility programs needed for
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|
||||||
reproducing the executable from it. However, as a special exception,
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|
||||||
the materials to be distributed need not include anything that is
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|
||||||
normally distributed (in either source or binary form) with the major
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|
||||||
components (compiler, kernel, and so on) of the operating system on
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|
||||||
which the executable runs, unless that component itself accompanies
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|
||||||
the executable.
|
|
||||||
|
|
||||||
It may happen that this requirement contradicts the license
|
|
||||||
restrictions of other proprietary libraries that do not normally
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|
||||||
accompany the operating system. Such a contradiction means you cannot
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|
||||||
use both them and the Library together in an executable that you
|
|
||||||
distribute.
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|
||||||
|
|
||||||
7. You may place library facilities that are a work based on the
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|
||||||
Library side-by-side in a single library together with other library
|
|
||||||
facilities not covered by this License, and distribute such a combined
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|
||||||
library, provided that the separate distribution of the work based on
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|
||||||
the Library and of the other library facilities is otherwise
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|
||||||
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|
||||||
|
|
||||||
a) Accompany the combined library with a copy of the same work
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|
||||||
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|
|
||||||
facilities. This must be distributed under the terms of the
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|
||||||
Sections above.
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|
||||||
|
|
||||||
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.
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|
||||||
|
|
||||||
8. You may not copy, modify, sublicense, link with, or distribute
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|
||||||
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|
||||||
attempt otherwise to copy, modify, sublicense, link with, or
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|
||||||
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|
||||||
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|
||||||
or rights, from you under this License will not have their licenses
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|
||||||
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|
||||||
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|
||||||
9. You are not required to accept this License, since you have not
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|
||||||
signed it. However, nothing else grants you permission to modify or
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|
||||||
distribute the Library or its derivative works. These actions are
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|
||||||
prohibited by law if you do not accept this License. Therefore, by
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|
||||||
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|
||||||
Library), you indicate your acceptance of this License to do so, and
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||||||
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||||||
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|
||||||
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|
||||||
10. Each time you redistribute the Library (or any work based on the
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|
||||||
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original licensor to copy, distribute, link with or modify the Library
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||||||
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||||||
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|
||||||
You are not responsible for enforcing compliance by third parties with
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|
||||||
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|
||||||
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|
||||||
11. If, as a consequence of a court judgment or allegation of patent
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|
||||||
infringement or for any other reason (not limited to patent issues),
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|
||||||
conditions are imposed on you (whether by court order, agreement or
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|
||||||
otherwise) that contradict the conditions of this License, they do not
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|
||||||
excuse you from the conditions of this License. If you cannot
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|
||||||
distribute so as to satisfy simultaneously your obligations under this
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|
||||||
License and any other pertinent obligations, then as a consequence you
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|
||||||
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|
||||||
license would not permit royalty-free redistribution of the Library by
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|
||||||
all those who receive copies directly or indirectly through you, then
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|
||||||
the only way you could satisfy both it and this License would be to
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|
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refrain entirely from distribution of the Library.
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|
||||||
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|
||||||
If any portion of this section is held invalid or unenforceable under any
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|
||||||
particular circumstance, the balance of the section is intended to apply,
|
|
||||||
and the section as a whole is intended to apply in other circumstances.
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|
||||||
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|
||||||
It is not the purpose of this section to induce you to infringe any
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|
||||||
patents or other property right claims or to contest validity of any
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|
||||||
such claims; this section has the sole purpose of protecting the
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|
||||||
integrity of the free software distribution system which is
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|
||||||
implemented by public license practices. Many people have made
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|
||||||
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|
||||||
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|
||||||
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|
||||||
to distribute software through any other system and a licensee cannot
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|
||||||
impose that choice.
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|
||||||
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|
||||||
This section is intended to make thoroughly clear what is believed to
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|
||||||
be a consequence of the rest of this License.
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|
||||||
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|
||||||
12. If the distribution and/or use of the Library is restricted in
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|
||||||
certain countries either by patents or by copyrighted interfaces, the
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|
||||||
original copyright holder who places the Library under this License may add
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|
||||||
an explicit geographical distribution limitation excluding those countries,
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|
||||||
so that distribution is permitted only in or among countries not thus
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|
||||||
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
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|
||||||
conditions either of that version or of any later version published by
|
|
||||||
the Free Software Foundation. If the Library does not specify a
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|
||||||
license version number, you may choose any version ever published by
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|
||||||
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
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|
||||||
OTHER PARTIES PROVIDE THE LIBRARY "AS IS" WITHOUT WARRANTY OF ANY
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|
||||||
KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, THE
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|
||||||
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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|
||||||
PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE
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|
||||||
LIBRARY IS WITH YOU. SHOULD THE LIBRARY PROVE DEFECTIVE, YOU ASSUME
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|
||||||
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
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|
||||||
AND/OR REDISTRIBUTE THE LIBRARY AS PERMITTED ABOVE, BE LIABLE TO YOU
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|
||||||
FOR DAMAGES, INCLUDING ANY GENERAL, SPECIAL, INCIDENTAL OR
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|
||||||
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.
|
|
||||||
|
|
||||||
|
|
@ -1,636 +0,0 @@
|
||||||
/*
|
|
||||||
* 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
|
|
||||||
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.
|
|
||||||
|
|
||||||
formatted using the GNU C formatting and indenting
|
|
||||||
*/
|
|
||||||
|
|
||||||
/*
|
|
||||||
* TODO: use Program Control to load stored profiles from EEPROM
|
|
||||||
*/
|
|
||||||
|
|
||||||
#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
|
|
||||||
*============================================================================*/
|
|
||||||
|
|
||||||
/* analog inputs */
|
|
||||||
int analogInputsToReport = 0; // bitwise array to store pin reporting
|
|
||||||
|
|
||||||
/* digital input ports */
|
|
||||||
byte reportPINs[TOTAL_PORTS]; // 1 = report this port, 0 = silence
|
|
||||||
byte previousPINs[TOTAL_PORTS]; // previous 8 bits sent
|
|
||||||
|
|
||||||
/* pins configuration */
|
|
||||||
byte pinConfig[TOTAL_PINS]; // configuration of every pin
|
|
||||||
byte portConfigInputs[TOTAL_PORTS]; // each bit: 1 = pin in INPUT, 0 = anything else
|
|
||||||
int pinState[TOTAL_PINS]; // any value that has been written
|
|
||||||
|
|
||||||
/* timer variables */
|
|
||||||
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)
|
|
||||||
|
|
||||||
/* 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
|
|
||||||
portValue = portValue & portConfigInputs[portNumber];
|
|
||||||
// only send if the value is different than previously sent
|
|
||||||
if(forceSend || previousPINs[portNumber] != portValue) {
|
|
||||||
Firmata.sendDigitalPort(portNumber, portValue);
|
|
||||||
previousPINs[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)
|
|
||||||
{
|
|
||||||
/* Using non-looping code allows constants to be given to readPort().
|
|
||||||
* The compiler will apply substantial optimizations if the inputs
|
|
||||||
* to readPort() are compile-time constants. */
|
|
||||||
if (TOTAL_PORTS > 0 && reportPINs[0]) outputPort(0, readPort(0, portConfigInputs[0]), false);
|
|
||||||
if (TOTAL_PORTS > 1 && reportPINs[1]) outputPort(1, readPort(1, portConfigInputs[1]), false);
|
|
||||||
if (TOTAL_PORTS > 2 && reportPINs[2]) outputPort(2, readPort(2, portConfigInputs[2]), false);
|
|
||||||
if (TOTAL_PORTS > 3 && reportPINs[3]) outputPort(3, readPort(3, portConfigInputs[3]), false);
|
|
||||||
if (TOTAL_PORTS > 4 && reportPINs[4]) outputPort(4, readPort(4, portConfigInputs[4]), false);
|
|
||||||
if (TOTAL_PORTS > 5 && reportPINs[5]) outputPort(5, readPort(5, portConfigInputs[5]), false);
|
|
||||||
if (TOTAL_PORTS > 6 && reportPINs[6]) outputPort(6, readPort(6, portConfigInputs[6]), false);
|
|
||||||
if (TOTAL_PORTS > 7 && reportPINs[7]) outputPort(7, readPort(7, portConfigInputs[7]), false);
|
|
||||||
if (TOTAL_PORTS > 8 && reportPINs[8]) outputPort(8, readPort(8, portConfigInputs[8]), false);
|
|
||||||
if (TOTAL_PORTS > 9 && reportPINs[9]) outputPort(9, readPort(9, portConfigInputs[9]), false);
|
|
||||||
if (TOTAL_PORTS > 10 && reportPINs[10]) outputPort(10, readPort(10, portConfigInputs[10]), false);
|
|
||||||
if (TOTAL_PORTS > 11 && reportPINs[11]) outputPort(11, readPort(11, portConfigInputs[11]), false);
|
|
||||||
if (TOTAL_PORTS > 12 && reportPINs[12]) outputPort(12, readPort(12, portConfigInputs[12]), false);
|
|
||||||
if (TOTAL_PORTS > 13 && reportPINs[13]) outputPort(13, readPort(13, portConfigInputs[13]), false);
|
|
||||||
if (TOTAL_PORTS > 14 && reportPINs[14]) outputPort(14, readPort(14, portConfigInputs[14]), false);
|
|
||||||
if (TOTAL_PORTS > 15 && reportPINs[15]) outputPort(15, readPort(15, portConfigInputs[15]), false);
|
|
||||||
}
|
|
||||||
|
|
||||||
// -----------------------------------------------------------------------------
|
|
||||||
/* 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)
|
|
||||||
{
|
|
||||||
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();
|
|
||||||
}
|
|
||||||
if (IS_PIN_ANALOG(pin)) {
|
|
||||||
reportAnalogCallback(PIN_TO_ANALOG(pin), mode == ANALOG ? 1 : 0); // turn on/off reporting
|
|
||||||
}
|
|
||||||
if (IS_PIN_DIGITAL(pin)) {
|
|
||||||
if (mode == INPUT) {
|
|
||||||
portConfigInputs[pin/8] |= (1 << (pin & 7));
|
|
||||||
} else {
|
|
||||||
portConfigInputs[pin/8] &= ~(1 << (pin & 7));
|
|
||||||
}
|
|
||||||
}
|
|
||||||
pinState[pin] = 0;
|
|
||||||
switch(mode) {
|
|
||||||
case ANALOG:
|
|
||||||
if (IS_PIN_ANALOG(pin)) {
|
|
||||||
if (IS_PIN_DIGITAL(pin)) {
|
|
||||||
pinMode(PIN_TO_DIGITAL(pin), INPUT); // disable output driver
|
|
||||||
digitalWrite(PIN_TO_DIGITAL(pin), LOW); // disable internal pull-ups
|
|
||||||
}
|
|
||||||
pinConfig[pin] = ANALOG;
|
|
||||||
}
|
|
||||||
break;
|
|
||||||
case INPUT:
|
|
||||||
if (IS_PIN_DIGITAL(pin)) {
|
|
||||||
pinMode(PIN_TO_DIGITAL(pin), INPUT); // disable output driver
|
|
||||||
digitalWrite(PIN_TO_DIGITAL(pin), LOW); // disable internal pull-ups
|
|
||||||
pinConfig[pin] = INPUT;
|
|
||||||
}
|
|
||||||
break;
|
|
||||||
case OUTPUT:
|
|
||||||
if (IS_PIN_DIGITAL(pin)) {
|
|
||||||
digitalWrite(PIN_TO_DIGITAL(pin), LOW); // disable PWM
|
|
||||||
pinMode(PIN_TO_DIGITAL(pin), OUTPUT);
|
|
||||||
pinConfig[pin] = OUTPUT;
|
|
||||||
}
|
|
||||||
break;
|
|
||||||
case PWM:
|
|
||||||
if (IS_PIN_PWM(pin)) {
|
|
||||||
pinMode(PIN_TO_PWM(pin), OUTPUT);
|
|
||||||
analogWrite(PIN_TO_PWM(pin), 0);
|
|
||||||
pinConfig[pin] = PWM;
|
|
||||||
}
|
|
||||||
break;
|
|
||||||
case SERVO:
|
|
||||||
if (IS_PIN_SERVO(pin)) {
|
|
||||||
pinConfig[pin] = SERVO;
|
|
||||||
if (!servos[PIN_TO_SERVO(pin)].attached()) {
|
|
||||||
servos[PIN_TO_SERVO(pin)].attach(PIN_TO_DIGITAL(pin));
|
|
||||||
}
|
|
||||||
}
|
|
||||||
break;
|
|
||||||
case I2C:
|
|
||||||
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
|
|
||||||
}
|
|
||||||
// TODO: save status to EEPROM here, if changed
|
|
||||||
}
|
|
||||||
|
|
||||||
void analogWriteCallback(byte pin, int value)
|
|
||||||
{
|
|
||||||
if (pin < TOTAL_PINS) {
|
|
||||||
switch(pinConfig[pin]) {
|
|
||||||
case SERVO:
|
|
||||||
if (IS_PIN_SERVO(pin))
|
|
||||||
servos[PIN_TO_SERVO(pin)].write(value);
|
|
||||||
pinState[pin] = value;
|
|
||||||
break;
|
|
||||||
case PWM:
|
|
||||||
if (IS_PIN_PWM(pin))
|
|
||||||
analogWrite(PIN_TO_PWM(pin), value);
|
|
||||||
pinState[pin] = value;
|
|
||||||
break;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
void digitalWriteCallback(byte port, int value)
|
|
||||||
{
|
|
||||||
byte pin, lastPin, mask=1, pinWriteMask=0;
|
|
||||||
|
|
||||||
if (port < TOTAL_PORTS) {
|
|
||||||
// create a mask of the pins on this port that are writable.
|
|
||||||
lastPin = port*8+8;
|
|
||||||
if (lastPin > TOTAL_PINS) lastPin = TOTAL_PINS;
|
|
||||||
for (pin=port*8; pin < lastPin; pin++) {
|
|
||||||
// do not disturb non-digital pins (eg, Rx & Tx)
|
|
||||||
if (IS_PIN_DIGITAL(pin)) {
|
|
||||||
// only write to OUTPUT and INPUT (enables pullup)
|
|
||||||
// do not touch pins in PWM, ANALOG, SERVO or other modes
|
|
||||||
if (pinConfig[pin] == OUTPUT || pinConfig[pin] == INPUT) {
|
|
||||||
pinWriteMask |= mask;
|
|
||||||
pinState[pin] = ((byte)value & mask) ? 1 : 0;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
mask = mask << 1;
|
|
||||||
}
|
|
||||||
writePort(port, (byte)value, pinWriteMask);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
// -----------------------------------------------------------------------------
|
|
||||||
/* sets bits in a bit array (int) to toggle the reporting of the analogIns
|
|
||||||
*/
|
|
||||||
//void FirmataClass::setAnalogPinReporting(byte pin, byte state) {
|
|
||||||
//}
|
|
||||||
void reportAnalogCallback(byte analogPin, int value)
|
|
||||||
{
|
|
||||||
if (analogPin < TOTAL_ANALOG_PINS) {
|
|
||||||
if(value == 0) {
|
|
||||||
analogInputsToReport = analogInputsToReport &~ (1 << analogPin);
|
|
||||||
} else {
|
|
||||||
analogInputsToReport = analogInputsToReport | (1 << analogPin);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
// TODO: save status to EEPROM here, if changed
|
|
||||||
}
|
|
||||||
|
|
||||||
void reportDigitalCallback(byte port, int value)
|
|
||||||
{
|
|
||||||
if (port < TOTAL_PORTS) {
|
|
||||||
reportPINs[port] = (byte)value;
|
|
||||||
}
|
|
||||||
// do not disable analog reporting on these 8 pins, to allow some
|
|
||||||
// pins used for digital, others analog. Instead, allow both types
|
|
||||||
// of reporting to be enabled, but check if the pin is configured
|
|
||||||
// as analog when sampling the analog inputs. Likewise, while
|
|
||||||
// scanning digital pins, portConfigInputs will mask off values from any
|
|
||||||
// pins configured as analog
|
|
||||||
}
|
|
||||||
|
|
||||||
/*==============================================================================
|
|
||||||
* SYSEX-BASED commands
|
|
||||||
*============================================================================*/
|
|
||||||
|
|
||||||
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
|
|
||||||
byte pin = argv[0];
|
|
||||||
int minPulse = argv[1] + (argv[2] << 7);
|
|
||||||
int maxPulse = argv[3] + (argv[4] << 7);
|
|
||||||
|
|
||||||
if (IS_PIN_SERVO(pin)) {
|
|
||||||
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);
|
|
||||||
setPinModeCallback(pin, SERVO);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
break;
|
|
||||||
case SAMPLING_INTERVAL:
|
|
||||||
if (argc > 1) {
|
|
||||||
samplingInterval = argv[0] + (argv[1] << 7);
|
|
||||||
if (samplingInterval < MINIMUM_SAMPLING_INTERVAL) {
|
|
||||||
samplingInterval = MINIMUM_SAMPLING_INTERVAL;
|
|
||||||
}
|
|
||||||
} else {
|
|
||||||
//Firmata.sendString("Not enough data");
|
|
||||||
}
|
|
||||||
break;
|
|
||||||
case EXTENDED_ANALOG:
|
|
||||||
if (argc > 1) {
|
|
||||||
int val = argv[1];
|
|
||||||
if (argc > 2) val |= (argv[2] << 7);
|
|
||||||
if (argc > 3) val |= (argv[3] << 14);
|
|
||||||
analogWriteCallback(argv[0], val);
|
|
||||||
}
|
|
||||||
break;
|
|
||||||
case CAPABILITY_QUERY:
|
|
||||||
Serial.write(START_SYSEX);
|
|
||||||
Serial.write(CAPABILITY_RESPONSE);
|
|
||||||
for (byte pin=0; pin < TOTAL_PINS; pin++) {
|
|
||||||
if (IS_PIN_DIGITAL(pin)) {
|
|
||||||
Serial.write((byte)INPUT);
|
|
||||||
Serial.write(1);
|
|
||||||
Serial.write((byte)OUTPUT);
|
|
||||||
Serial.write(1);
|
|
||||||
}
|
|
||||||
if (IS_PIN_ANALOG(pin)) {
|
|
||||||
Serial.write(ANALOG);
|
|
||||||
Serial.write(10);
|
|
||||||
}
|
|
||||||
if (IS_PIN_PWM(pin)) {
|
|
||||||
Serial.write(PWM);
|
|
||||||
Serial.write(8);
|
|
||||||
}
|
|
||||||
if (IS_PIN_SERVO(pin)) {
|
|
||||||
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);
|
|
||||||
break;
|
|
||||||
case PIN_STATE_QUERY:
|
|
||||||
if (argc > 0) {
|
|
||||||
byte pin=argv[0];
|
|
||||||
Serial.write(START_SYSEX);
|
|
||||||
Serial.write(PIN_STATE_RESPONSE);
|
|
||||||
Serial.write(pin);
|
|
||||||
if (pin < TOTAL_PINS) {
|
|
||||||
Serial.write((byte)pinConfig[pin]);
|
|
||||||
Serial.write((byte)pinState[pin] & 0x7F);
|
|
||||||
if (pinState[pin] & 0xFF80) Serial.write((byte)(pinState[pin] >> 7) & 0x7F);
|
|
||||||
if (pinState[pin] & 0xC000) Serial.write((byte)(pinState[pin] >> 14) & 0x7F);
|
|
||||||
}
|
|
||||||
Serial.write(END_SYSEX);
|
|
||||||
}
|
|
||||||
break;
|
|
||||||
case ANALOG_MAPPING_QUERY:
|
|
||||||
Serial.write(START_SYSEX);
|
|
||||||
Serial.write(ANALOG_MAPPING_RESPONSE);
|
|
||||||
for (byte pin=0; pin < TOTAL_PINS; pin++) {
|
|
||||||
Serial.write(IS_PIN_ANALOG(pin) ? PIN_TO_ANALOG(pin) : 127);
|
|
||||||
}
|
|
||||||
Serial.write(END_SYSEX);
|
|
||||||
break;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
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 systemResetCallback()
|
|
||||||
{
|
|
||||||
// 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;
|
|
||||||
}
|
|
||||||
// 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);
|
|
||||||
} else {
|
|
||||||
// sets the output to 0, configures portConfigInputs
|
|
||||||
setPinModeCallback(i, OUTPUT);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
// by default, do not report any analog inputs
|
|
||||||
analogInputsToReport = 0;
|
|
||||||
|
|
||||||
/* send digital inputs to set the initial state on the host computer,
|
|
||||||
* since once in the loop(), this firmware will only send on change */
|
|
||||||
/*
|
|
||||||
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
|
|
||||||
}
|
|
||||||
|
|
||||||
/*==============================================================================
|
|
||||||
* LOOP()
|
|
||||||
*============================================================================*/
|
|
||||||
void loop()
|
|
||||||
{
|
|
||||||
byte pin, analogPin;
|
|
||||||
|
|
||||||
/* DIGITALREAD - as fast as possible, check for changes and output them to the
|
|
||||||
* FTDI buffer using Serial.print() */
|
|
||||||
checkDigitalInputs();
|
|
||||||
|
|
||||||
/* SERIALREAD - processing incoming messagse as soon as possible, while still
|
|
||||||
* checking digital inputs. */
|
|
||||||
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. */
|
|
||||||
|
|
||||||
currentMillis = millis();
|
|
||||||
if (currentMillis - previousMillis > samplingInterval) {
|
|
||||||
previousMillis += samplingInterval;
|
|
||||||
/* ANALOGREAD - do all analogReads() at the configured sampling interval */
|
|
||||||
for(pin=0; pin<TOTAL_PINS; pin++) {
|
|
||||||
if (IS_PIN_ANALOG(pin) && pinConfig[pin] == ANALOG) {
|
|
||||||
analogPin = PIN_TO_ANALOG(pin);
|
|
||||||
if (analogInputsToReport & (1 << analogPin)) {
|
|
||||||
Firmata.sendAnalog(analogPin, analogRead(analogPin));
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
// 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);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
@ -1,62 +0,0 @@
|
||||||
#######################################
|
|
||||||
# Syntax Coloring Map For Firmata
|
|
||||||
#######################################
|
|
||||||
|
|
||||||
#######################################
|
|
||||||
# Datatypes (KEYWORD1)
|
|
||||||
#######################################
|
|
||||||
|
|
||||||
Firmata KEYWORD1
|
|
||||||
callbackFunction KEYWORD1
|
|
||||||
systemResetCallbackFunction KEYWORD1
|
|
||||||
stringCallbackFunction KEYWORD1
|
|
||||||
sysexCallbackFunction KEYWORD1
|
|
||||||
|
|
||||||
#######################################
|
|
||||||
# Methods and Functions (KEYWORD2)
|
|
||||||
#######################################
|
|
||||||
|
|
||||||
begin KEYWORD2
|
|
||||||
begin KEYWORD2
|
|
||||||
printVersion KEYWORD2
|
|
||||||
blinkVersion KEYWORD2
|
|
||||||
printFirmwareVersion KEYWORD2
|
|
||||||
setFirmwareVersion KEYWORD2
|
|
||||||
setFirmwareNameAndVersion KEYWORD2
|
|
||||||
available KEYWORD2
|
|
||||||
processInput KEYWORD2
|
|
||||||
sendAnalog KEYWORD2
|
|
||||||
sendDigital KEYWORD2
|
|
||||||
sendDigitalPortPair KEYWORD2
|
|
||||||
sendDigitalPort KEYWORD2
|
|
||||||
sendString KEYWORD2
|
|
||||||
sendString KEYWORD2
|
|
||||||
sendSysex KEYWORD2
|
|
||||||
attach KEYWORD2
|
|
||||||
detach KEYWORD2
|
|
||||||
flush KEYWORD2
|
|
||||||
|
|
||||||
|
|
||||||
#######################################
|
|
||||||
# Constants (LITERAL1)
|
|
||||||
#######################################
|
|
||||||
|
|
||||||
MAX_DATA_BYTES LITERAL1
|
|
||||||
|
|
||||||
DIGITAL_MESSAGE LITERAL1
|
|
||||||
ANALOG_MESSAGE LITERAL1
|
|
||||||
REPORT_ANALOG LITERAL1
|
|
||||||
REPORT_DIGITAL LITERAL1
|
|
||||||
REPORT_VERSION LITERAL1
|
|
||||||
SET_PIN_MODE LITERAL1
|
|
||||||
SYSTEM_RESET LITERAL1
|
|
||||||
|
|
||||||
START_SYSEX LITERAL1
|
|
||||||
END_SYSEX LITERAL1
|
|
||||||
|
|
||||||
PWM LITERAL1
|
|
||||||
|
|
||||||
TOTAL_ANALOG_PINS LITERAL1
|
|
||||||
TOTAL_DIGITAL_PINS LITERAL1
|
|
||||||
TOTAL_PORTS LITERAL1
|
|
||||||
ANALOG_PORT LITERAL1
|
|
||||||
Loading…
Reference in New Issue