From e616569dc7ae6ca313c43a0c6661dbbd66755115 Mon Sep 17 00:00:00 2001 From: david gauchard Date: Sun, 17 May 2020 17:45:53 +0200 Subject: [PATCH 1/3] Add utility/ExampleStandardFirmataCommon.h and simplify all StandardFirmata Examples --- examples/StandardFirmata/StandardFirmata.ino | 780 +---------------- .../StandardFirmataBLE/StandardFirmataBLE.ino | 765 +--------------- .../StandardFirmataChipKIT.ino | 757 +--------------- .../StandardFirmataEthernet.ino | 803 +---------------- .../StandardFirmataPlus.ino | 786 +---------------- .../StandardFirmataWiFi.ino | 782 +---------------- utility/ExampleStandardFirmataCommon.h | 827 ++++++++++++++++++ 7 files changed, 868 insertions(+), 4632 deletions(-) create mode 100644 utility/ExampleStandardFirmataCommon.h diff --git a/examples/StandardFirmata/StandardFirmata.ino b/examples/StandardFirmata/StandardFirmata.ino index 0e05a812..535c21c8 100755 --- a/examples/StandardFirmata/StandardFirmata.ino +++ b/examples/StandardFirmata/StandardFirmata.ino @@ -25,759 +25,18 @@ #include #include -#include - -#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 I2C_END_TX_MASK B01000000 -#define I2C_STOP_TX 1 -#define I2C_RESTART_TX 0 -#define I2C_MAX_QUERIES 8 -#define I2C_REGISTER_NOT_SPECIFIED -1 - -// the minimum interval for sampling analog input -#define MINIMUM_SAMPLING_INTERVAL 1 - - -/*============================================================================== - * GLOBAL VARIABLES - *============================================================================*/ - -#ifdef FIRMATA_SERIAL_FEATURE -SerialFirmata serialFeature; -#endif - -/* 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 portConfigInputs[TOTAL_PORTS]; // each bit: 1 = pin in INPUT, 0 = anything else - -/* timer variables */ -unsigned long currentMillis; // store the current value from millis() -unsigned long previousMillis; // for comparison with currentMillis -unsigned int samplingInterval = 19; // how often to run the main loop (in ms) - -/* i2c data */ -struct i2c_device_info { - byte addr; - int reg; - byte bytes; - byte stopTX; -}; - -/* for i2c read continuous more */ -i2c_device_info query[I2C_MAX_QUERIES]; - -byte i2cRxData[64]; -boolean isI2CEnabled = false; -signed char queryIndex = -1; -// default delay time between i2c read request and Wire.requestFrom() -unsigned int i2cReadDelayTime = 0; - -Servo servos[MAX_SERVOS]; -byte servoPinMap[TOTAL_PINS]; -byte detachedServos[MAX_SERVOS]; -byte detachedServoCount = 0; -byte servoCount = 0; - -boolean isResetting = false; - -// Forward declare a few functions to avoid compiler errors with older versions -// of the Arduino IDE. -void setPinModeCallback(byte, int); -void reportAnalogCallback(byte analogPin, int value); -void sysexCallback(byte, byte, byte*); - -/* utility functions */ -void wireWrite(byte data) -{ -#if ARDUINO >= 100 - Wire.write((byte)data); -#else - Wire.send(data); -#endif -} - -byte wireRead(void) -{ -#if ARDUINO >= 100 - return Wire.read(); -#else - return Wire.receive(); -#endif -} - -/*============================================================================== - * FUNCTIONS - *============================================================================*/ - -void attachServo(byte pin, int minPulse, int maxPulse) -{ - if (servoCount < MAX_SERVOS) { - // reuse indexes of detached servos until all have been reallocated - if (detachedServoCount > 0) { - servoPinMap[pin] = detachedServos[detachedServoCount - 1]; - if (detachedServoCount > 0) detachedServoCount--; - } else { - servoPinMap[pin] = servoCount; - servoCount++; - } - if (minPulse > 0 && maxPulse > 0) { - servos[servoPinMap[pin]].attach(PIN_TO_DIGITAL(pin), minPulse, maxPulse); - } else { - servos[servoPinMap[pin]].attach(PIN_TO_DIGITAL(pin)); - } - } else { - Firmata.sendString("Max servos attached"); - } -} - -void detachServo(byte pin) -{ - servos[servoPinMap[pin]].detach(); - // if we're detaching the last servo, decrement the count - // otherwise store the index of the detached servo - if (servoPinMap[pin] == servoCount && servoCount > 0) { - servoCount--; - } else if (servoCount > 0) { - // keep track of detached servos because we want to reuse their indexes - // before incrementing the count of attached servos - detachedServoCount++; - detachedServos[detachedServoCount - 1] = servoPinMap[pin]; - } - - servoPinMap[pin] = 255; -} - -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, PIN_MODE_I2C); - } - } - - isI2CEnabled = true; - - 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; -} - -void readAndReportData(byte address, int theRegister, byte numBytes, byte stopTX) { - // 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 != I2C_REGISTER_NOT_SPECIFIED) { - Wire.beginTransmission(address); - wireWrite((byte)theRegister); - Wire.endTransmission(stopTX); // default = true - // do not set a value of 0 - if (i2cReadDelayTime > 0) { - // delay is necessary for some devices such as WiiNunchuck - delayMicroseconds(i2cReadDelayTime); - } - } 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()) { - Firmata.sendString("I2C: Too many bytes received"); - } else if (numBytes > Wire.available()) { - Firmata.sendString("I2C: Too few bytes received"); - numBytes = Wire.available(); - } - - i2cRxData[0] = address; - i2cRxData[1] = theRegister; - - for (int i = 0; i < numBytes && Wire.available(); i++) { - i2cRxData[2 + i] = wireRead(); - } - - // 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 (Firmata.getPinMode(pin) == PIN_MODE_IGNORE) - return; - - if (Firmata.getPinMode(pin) == PIN_MODE_I2C && isI2CEnabled && mode != PIN_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_DIGITAL(pin) && mode != PIN_MODE_SERVO) { - if (servoPinMap[pin] < MAX_SERVOS && servos[servoPinMap[pin]].attached()) { - detachServo(pin); - } - } - if (IS_PIN_ANALOG(pin)) { - reportAnalogCallback(PIN_TO_ANALOG(pin), mode == PIN_MODE_ANALOG ? 1 : 0); // turn on/off reporting - } - if (IS_PIN_DIGITAL(pin)) { - if (mode == INPUT || mode == PIN_MODE_PULLUP) { - portConfigInputs[pin / 8] |= (1 << (pin & 7)); - } else { - portConfigInputs[pin / 8] &= ~(1 << (pin & 7)); - } - } - Firmata.setPinState(pin, 0); - switch (mode) { - case PIN_MODE_ANALOG: - if (IS_PIN_ANALOG(pin)) { - if (IS_PIN_DIGITAL(pin)) { - pinMode(PIN_TO_DIGITAL(pin), INPUT); // disable output driver -#if ARDUINO <= 100 - // deprecated since Arduino 1.0.1 - TODO: drop support in Firmata 2.6 - digitalWrite(PIN_TO_DIGITAL(pin), LOW); // disable internal pull-ups -#endif - } - Firmata.setPinMode(pin, PIN_MODE_ANALOG); - } - break; - case INPUT: - if (IS_PIN_DIGITAL(pin)) { - pinMode(PIN_TO_DIGITAL(pin), INPUT); // disable output driver -#if ARDUINO <= 100 - // deprecated since Arduino 1.0.1 - TODO: drop support in Firmata 2.6 - digitalWrite(PIN_TO_DIGITAL(pin), LOW); // disable internal pull-ups -#endif - Firmata.setPinMode(pin, INPUT); - } - break; - case PIN_MODE_PULLUP: - if (IS_PIN_DIGITAL(pin)) { - pinMode(PIN_TO_DIGITAL(pin), INPUT_PULLUP); - Firmata.setPinMode(pin, PIN_MODE_PULLUP); - Firmata.setPinState(pin, 1); - } - break; - case OUTPUT: - if (IS_PIN_DIGITAL(pin)) { - if (Firmata.getPinMode(pin) == PIN_MODE_PWM) { - // Disable PWM if pin mode was previously set to PWM. - digitalWrite(PIN_TO_DIGITAL(pin), LOW); - } - pinMode(PIN_TO_DIGITAL(pin), OUTPUT); - Firmata.setPinMode(pin, OUTPUT); - } - break; - case PIN_MODE_PWM: - if (IS_PIN_PWM(pin)) { - pinMode(PIN_TO_PWM(pin), OUTPUT); - analogWrite(PIN_TO_PWM(pin), 0); - Firmata.setPinMode(pin, PIN_MODE_PWM); - } - break; - case PIN_MODE_SERVO: - if (IS_PIN_DIGITAL(pin)) { - Firmata.setPinMode(pin, PIN_MODE_SERVO); - if (servoPinMap[pin] == 255 || !servos[servoPinMap[pin]].attached()) { - // pass -1 for min and max pulse values to use default values set - // by Servo library - attachServo(pin, -1, -1); - } - } - break; - case PIN_MODE_I2C: - if (IS_PIN_I2C(pin)) { - // mark the pin as i2c - // the user must call I2C_CONFIG to enable I2C for a device - Firmata.setPinMode(pin, PIN_MODE_I2C); - } - break; - case PIN_MODE_SERIAL: -#ifdef FIRMATA_SERIAL_FEATURE - serialFeature.handlePinMode(pin, PIN_MODE_SERIAL); -#endif - break; - default: - Firmata.sendString("Unknown pin mode"); // TODO: put error msgs in EEPROM - } - // TODO: save status to EEPROM here, if changed -} - -/* - * Sets the value of an individual pin. Useful if you want to set a pin value but - * are not tracking the digital port state. - * Can only be used on pins configured as OUTPUT. - * Cannot be used to enable pull-ups on Digital INPUT pins. - */ -void setPinValueCallback(byte pin, int value) -{ - if (pin < TOTAL_PINS && IS_PIN_DIGITAL(pin)) { - if (Firmata.getPinMode(pin) == OUTPUT) { - Firmata.setPinState(pin, value); - digitalWrite(PIN_TO_DIGITAL(pin), value); - } - } -} - -void analogWriteCallback(byte pin, int value) -{ - if (pin < TOTAL_PINS) { - switch (Firmata.getPinMode(pin)) { - case PIN_MODE_SERVO: - if (IS_PIN_DIGITAL(pin)) - servos[servoPinMap[pin]].write(value); - Firmata.setPinState(pin, value); - break; - case PIN_MODE_PWM: - if (IS_PIN_PWM(pin)) - analogWrite(PIN_TO_PWM(pin), value); - Firmata.setPinState(pin, value); - break; - } - } -} - -void digitalWriteCallback(byte port, int value) -{ - byte pin, lastPin, pinValue, 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)) { - // do not touch pins in PWM, ANALOG, SERVO or other modes - if (Firmata.getPinMode(pin) == OUTPUT || Firmata.getPinMode(pin) == INPUT) { - pinValue = ((byte)value & mask) ? 1 : 0; - if (Firmata.getPinMode(pin) == OUTPUT) { - pinWriteMask |= mask; - } else if (Firmata.getPinMode(pin) == INPUT && pinValue == 1 && Firmata.getPinState(pin) != 1) { - // only handle INPUT here for backwards compatibility -#if ARDUINO > 100 - pinMode(pin, INPUT_PULLUP); -#else - // only write to the INPUT pin to enable pullups if Arduino v1.0.0 or earlier - pinWriteMask |= mask; -#endif - } - Firmata.setPinState(pin, pinValue); - } - } - 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); - // prevent during system reset or all analog pin values will be reported - // which may report noise for unconnected analog pins - if (!isResetting) { - // Send pin value immediately. This is helpful when connected via - // ethernet, wi-fi or bluetooth so pin states can be known upon - // reconnecting. - Firmata.sendAnalog(analogPin, analogRead(analogPin)); - } - } - } - // TODO: save status to EEPROM here, if changed -} - -void reportDigitalCallback(byte port, int value) -{ - if (port < TOTAL_PORTS) { - reportPINs[port] = (byte)value; - // Send port value immediately. This is helpful when connected via - // ethernet, wi-fi or bluetooth so pin states can be known upon - // reconnecting. - if (value) outputPort(port, readPort(port, portConfigInputs[port]), true); - } - // 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 stopTX; - byte slaveAddress; - byte data; - int slaveRegister; - 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 not supported"); - return; - } - else { - slaveAddress = argv[0]; - } - - // need to invert the logic here since 0 will be default for client - // libraries that have not updated to add support for restart tx - if (argv[1] & I2C_END_TX_MASK) { - stopTX = I2C_RESTART_TX; - } - else { - stopTX = I2C_STOP_TX; // default - } - - switch (mode) { - case I2C_WRITE: - Wire.beginTransmission(slaveAddress); - for (byte i = 2; i < argc; i += 2) { - data = argv[i] + (argv[i + 1] << 7); - wireWrite(data); - } - 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 - } - else { - // a slave register is NOT specified - slaveRegister = I2C_REGISTER_NOT_SPECIFIED; - data = argv[2] + (argv[3] << 7); // bytes to read - } - readAndReportData(slaveAddress, (int)slaveRegister, data, stopTX); - break; - case I2C_READ_CONTINUOUSLY: - if ((queryIndex + 1) >= I2C_MAX_QUERIES) { - // too many queries, just ignore - Firmata.sendString("too many queries"); - break; - } - if (argc == 6) { - // a slave register is specified - slaveRegister = argv[2] + (argv[3] << 7); - data = argv[4] + (argv[5] << 7); // bytes to read - } - else { - // a slave register is NOT specified - slaveRegister = (int)I2C_REGISTER_NOT_SPECIFIED; - data = argv[2] + (argv[3] << 7); // bytes to read - } - queryIndex++; - query[queryIndex].addr = slaveAddress; - query[queryIndex].reg = slaveRegister; - query[queryIndex].bytes = data; - query[queryIndex].stopTX = stopTX; - 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 { - queryIndexToSkip = 0; - // 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 < I2C_MAX_QUERIES) { - query[i].addr = query[i + 1].addr; - query[i].reg = query[i + 1].reg; - query[i].bytes = query[i + 1].bytes; - query[i].stopTX = query[i + 1].stopTX; - } - } - queryIndex--; - } - break; - default: - break; - } - break; - case I2C_CONFIG: - delayTime = (argv[0] + (argv[1] << 7)); - - if (argc > 1 && 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_DIGITAL(pin)) { - if (servoPinMap[pin] < MAX_SERVOS && servos[servoPinMap[pin]].attached()) { - detachServo(pin); - } - attachServo(pin, minPulse, maxPulse); - setPinModeCallback(pin, PIN_MODE_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: - Firmata.write(START_SYSEX); - Firmata.write(CAPABILITY_RESPONSE); - for (byte pin = 0; pin < TOTAL_PINS; pin++) { - if (IS_PIN_DIGITAL(pin)) { - Firmata.write((byte)INPUT); - Firmata.write(1); - Firmata.write((byte)PIN_MODE_PULLUP); - Firmata.write(1); - Firmata.write((byte)OUTPUT); - Firmata.write(1); - } - if (IS_PIN_ANALOG(pin)) { - Firmata.write(PIN_MODE_ANALOG); - Firmata.write(10); // 10 = 10-bit resolution - } - if (IS_PIN_PWM(pin)) { - Firmata.write(PIN_MODE_PWM); - Firmata.write(DEFAULT_PWM_RESOLUTION); - } - if (IS_PIN_DIGITAL(pin)) { - Firmata.write(PIN_MODE_SERVO); - Firmata.write(14); - } - if (IS_PIN_I2C(pin)) { - Firmata.write(PIN_MODE_I2C); - Firmata.write(1); // TODO: could assign a number to map to SCL or SDA - } -#ifdef FIRMATA_SERIAL_FEATURE - serialFeature.handleCapability(pin); -#endif - Firmata.write(127); - } - Firmata.write(END_SYSEX); - break; - case PIN_STATE_QUERY: - if (argc > 0) { - byte pin = argv[0]; - Firmata.write(START_SYSEX); - Firmata.write(PIN_STATE_RESPONSE); - Firmata.write(pin); - if (pin < TOTAL_PINS) { - Firmata.write(Firmata.getPinMode(pin)); - Firmata.write((byte)Firmata.getPinState(pin) & 0x7F); - if (Firmata.getPinState(pin) & 0xFF80) Firmata.write((byte)(Firmata.getPinState(pin) >> 7) & 0x7F); - if (Firmata.getPinState(pin) & 0xC000) Firmata.write((byte)(Firmata.getPinState(pin) >> 14) & 0x7F); - } - Firmata.write(END_SYSEX); - } - break; - case ANALOG_MAPPING_QUERY: - Firmata.write(START_SYSEX); - Firmata.write(ANALOG_MAPPING_RESPONSE); - for (byte pin = 0; pin < TOTAL_PINS; pin++) { - Firmata.write(IS_PIN_ANALOG(pin) ? PIN_TO_ANALOG(pin) : 127); - } - Firmata.write(END_SYSEX); - break; - - case SERIAL_MESSAGE: -#ifdef FIRMATA_SERIAL_FEATURE - serialFeature.handleSysex(command, argc, argv); -#endif - break; - } -} - -/*============================================================================== - * SETUP() - *============================================================================*/ - -void systemResetCallback() -{ - isResetting = true; - - // initialize a defalt state - // TODO: option to load config from EEPROM instead of default - -#ifdef FIRMATA_SERIAL_FEATURE - serialFeature.reset(); -#endif - - if (isI2CEnabled) { - disableI2CPins(); - } - - for (byte i = 0; i < TOTAL_PORTS; i++) { - reportPINs[i] = false; // by default, reporting off - portConfigInputs[i] = 0; // until activated - previousPINs[i] = 0; - } - - for (byte i = 0; i < TOTAL_PINS; i++) { - // pins with analog capability default to analog input - // otherwise, pins default to digital output - if (IS_PIN_ANALOG(i)) { - // turns off pullup, configures everything - setPinModeCallback(i, PIN_MODE_ANALOG); - } else if (IS_PIN_DIGITAL(i)) { - // sets the output to 0, configures portConfigInputs - setPinModeCallback(i, OUTPUT); - } - - servoPinMap[i] = 255; - } - // by default, do not report any analog inputs - analogInputsToReport = 0; - - detachedServoCount = 0; - servoCount = 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); - } - */ - isResetting = false; -} +#include "utility/ExampleStandardFirmataCommon.h" void setup() { - Firmata.setFirmwareVersion(FIRMATA_FIRMWARE_MAJOR_VERSION, FIRMATA_FIRMWARE_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(SET_DIGITAL_PIN_VALUE, setPinValueCallback); - Firmata.attach(START_SYSEX, sysexCallback); - Firmata.attach(SYSTEM_RESET, systemResetCallback); - - // to use a port other than Serial, such as Serial1 on an Arduino Leonardo or Mega, - // Call begin(baud) on the alternate serial port and pass it to Firmata to begin like this: - // Serial1.begin(57600); - // Firmata.begin(Serial1); - // However do not do this if you are using SERIAL_MESSAGE + initFirmataCommonBegin(); Firmata.begin(57600); while (!Serial) { ; // wait for serial port to connect. Needed for ATmega32u4-based boards and Arduino 101 } - systemResetCallback(); // reset to default config + initFirmataCommonEnd(); } /*============================================================================== @@ -785,38 +44,7 @@ void setup() *============================================================================*/ void loop() { - byte pin, analogPin; - - /* DIGITALREAD - as fast as possible, check for changes and output them to the - * FTDI buffer using Serial.print() */ - checkDigitalInputs(); - - /* STREAMREAD - processing incoming messagse as soon as possible, while still - * checking digital inputs. */ - while (Firmata.available()) - Firmata.processInput(); - - // TODO - ensure that Stream buffer doesn't go over 60 bytes - - 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) && Firmata.getPinMode(pin) == PIN_MODE_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, query[i].stopTX); - } - } - } + loopFirmataCommon(); #ifdef FIRMATA_SERIAL_FEATURE serialFeature.update(); diff --git a/examples/StandardFirmataBLE/StandardFirmataBLE.ino b/examples/StandardFirmataBLE/StandardFirmataBLE.ino index ba80e8d8..fab638bf 100755 --- a/examples/StandardFirmataBLE/StandardFirmataBLE.ino +++ b/examples/StandardFirmataBLE/StandardFirmataBLE.ino @@ -25,7 +25,7 @@ #include #include -#include +#include "utility/ExampleStandardFirmataCommon.h" //#define SERIAL_DEBUG #include "utility/firmataDebug.h" @@ -41,734 +41,12 @@ // follow the instructions in bleConfig.h to configure your BLE hardware #include "bleConfig.h" -#define I2C_WRITE 0x00 //B00000000 -#define I2C_READ 0x08 //B00001000 -#define I2C_READ_CONTINUOUSLY 0x10 //B00010000 -#define I2C_STOP_READING 0x18 //B00011000 -#define I2C_READ_WRITE_MODE_MASK 0x18 //B00011000 -#define I2C_10BIT_ADDRESS_MODE_MASK 0x20 //B00100000 -#define I2C_END_TX_MASK 0x40 //B01000000 -#define I2C_STOP_TX 1 -#define I2C_RESTART_TX 0 -#define I2C_MAX_QUERIES 8 -#define I2C_REGISTER_NOT_SPECIFIED -1 - -// the minimum interval for sampling analog input -#define MINIMUM_SAMPLING_INTERVAL 1 - -/*============================================================================== - * GLOBAL VARIABLES - *============================================================================*/ - -#ifdef FIRMATA_SERIAL_FEATURE -SerialFirmata serialFeature; -#endif - -/* 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 portConfigInputs[TOTAL_PORTS]; // each bit: 1 = pin in INPUT, 0 = anything else - -/* timer variables */ -unsigned long currentMillis; // store the current value from millis() -unsigned long previousMillis; // for comparison with currentMillis -unsigned int samplingInterval = 19; // how often to run the main loop (in ms) - -/* i2c data */ -struct i2c_device_info { - byte addr; - int reg; - byte bytes; - byte stopTX; -}; - -/* for i2c read continuous more */ -i2c_device_info query[I2C_MAX_QUERIES]; - -byte i2cRxData[64]; -boolean isI2CEnabled = false; -signed char queryIndex = -1; -// default delay time between i2c read request and Wire.requestFrom() -unsigned int i2cReadDelayTime = 0; - -Servo servos[MAX_SERVOS]; -byte servoPinMap[TOTAL_PINS]; -byte detachedServos[MAX_SERVOS]; -byte detachedServoCount = 0; -byte servoCount = 0; - -boolean isResetting = false; - -// Forward declare a few functions to avoid compiler errors with older versions -// of the Arduino IDE. -void setPinModeCallback(byte, int); -void reportAnalogCallback(byte analogPin, int value); -void sysexCallback(byte, byte, byte*); - -/* utility functions */ -void wireWrite(byte data) -{ -#if ARDUINO >= 100 - Wire.write((byte)data); -#else - Wire.send(data); -#endif -} - -byte wireRead(void) -{ -#if ARDUINO >= 100 - return Wire.read(); -#else - return Wire.receive(); -#endif -} - -/*============================================================================== - * FUNCTIONS - *============================================================================*/ - -void attachServo(byte pin, int minPulse, int maxPulse) -{ - if (servoCount < MAX_SERVOS) { - // reuse indexes of detached servos until all have been reallocated - if (detachedServoCount > 0) { - servoPinMap[pin] = detachedServos[detachedServoCount - 1]; - if (detachedServoCount > 0) detachedServoCount--; - } else { - servoPinMap[pin] = servoCount; - servoCount++; - } - if (minPulse > 0 && maxPulse > 0) { - servos[servoPinMap[pin]].attach(PIN_TO_DIGITAL(pin), minPulse, maxPulse); - } else { - servos[servoPinMap[pin]].attach(PIN_TO_DIGITAL(pin)); - } - } else { - Firmata.sendString("Max servos attached"); - } -} - -void detachServo(byte pin) -{ - servos[servoPinMap[pin]].detach(); - // if we're detaching the last servo, decrement the count - // otherwise store the index of the detached servo - if (servoPinMap[pin] == servoCount && servoCount > 0) { - servoCount--; - } else if (servoCount > 0) { - // keep track of detached servos because we want to reuse their indexes - // before incrementing the count of attached servos - detachedServoCount++; - detachedServos[detachedServoCount - 1] = servoPinMap[pin]; - } - - servoPinMap[pin] = 255; -} - -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, PIN_MODE_I2C); - } - } - - isI2CEnabled = true; - - 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; -} - -void readAndReportData(byte address, int theRegister, byte numBytes, byte stopTX) { - // 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 != I2C_REGISTER_NOT_SPECIFIED) { - Wire.beginTransmission(address); - wireWrite((byte)theRegister); - Wire.endTransmission(stopTX); // default = true - // do not set a value of 0 - if (i2cReadDelayTime > 0) { - // delay is necessary for some devices such as WiiNunchuck - delayMicroseconds(i2cReadDelayTime); - } - } 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()) { - Firmata.sendString("I2C: Too many bytes received"); - } else if (numBytes > Wire.available()) { - Firmata.sendString("I2C: Too few bytes received"); - numBytes = Wire.available(); - } - - i2cRxData[0] = address; - i2cRxData[1] = theRegister; - - for (int i = 0; i < numBytes && Wire.available(); i++) { - i2cRxData[2 + i] = wireRead(); - } - - // 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 (Firmata.getPinMode(pin) == PIN_MODE_IGNORE) - return; - - if (Firmata.getPinMode(pin) == PIN_MODE_I2C && isI2CEnabled && mode != PIN_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_DIGITAL(pin) && mode != PIN_MODE_SERVO) { - if (servoPinMap[pin] < MAX_SERVOS && servos[servoPinMap[pin]].attached()) { - detachServo(pin); - } - } - if (IS_PIN_ANALOG(pin)) { - reportAnalogCallback(PIN_TO_ANALOG(pin), mode == PIN_MODE_ANALOG ? 1 : 0); // turn on/off reporting - } - if (IS_PIN_DIGITAL(pin)) { - if (mode == INPUT || mode == PIN_MODE_PULLUP) { - portConfigInputs[pin / 8] |= (1 << (pin & 7)); - } else { - portConfigInputs[pin / 8] &= ~(1 << (pin & 7)); - } - } - Firmata.setPinState(pin, 0); - switch (mode) { - case PIN_MODE_ANALOG: - if (IS_PIN_ANALOG(pin)) { - if (IS_PIN_DIGITAL(pin)) { - pinMode(PIN_TO_DIGITAL(pin), INPUT); // disable output driver -#if ARDUINO <= 100 - // deprecated since Arduino 1.0.1 - TODO: drop support in Firmata 2.6 - digitalWrite(PIN_TO_DIGITAL(pin), LOW); // disable internal pull-ups -#endif - } - Firmata.setPinMode(pin, PIN_MODE_ANALOG); - } - break; - case INPUT: - if (IS_PIN_DIGITAL(pin)) { - pinMode(PIN_TO_DIGITAL(pin), INPUT); // disable output driver -#if ARDUINO <= 100 - // deprecated since Arduino 1.0.1 - TODO: drop support in Firmata 2.6 - digitalWrite(PIN_TO_DIGITAL(pin), LOW); // disable internal pull-ups -#endif - Firmata.setPinMode(pin, INPUT); - } - break; - case PIN_MODE_PULLUP: - if (IS_PIN_DIGITAL(pin)) { - pinMode(PIN_TO_DIGITAL(pin), INPUT_PULLUP); - Firmata.setPinMode(pin, PIN_MODE_PULLUP); - Firmata.setPinState(pin, 1); - } - break; - case OUTPUT: - if (IS_PIN_DIGITAL(pin)) { - if (Firmata.getPinMode(pin) == PIN_MODE_PWM) { - // Disable PWM if pin mode was previously set to PWM. - digitalWrite(PIN_TO_DIGITAL(pin), LOW); - } - pinMode(PIN_TO_DIGITAL(pin), OUTPUT); - Firmata.setPinMode(pin, OUTPUT); - } - break; - case PIN_MODE_PWM: - if (IS_PIN_PWM(pin)) { - pinMode(PIN_TO_PWM(pin), OUTPUT); - analogWrite(PIN_TO_PWM(pin), 0); - Firmata.setPinMode(pin, PIN_MODE_PWM); - } - break; - case PIN_MODE_SERVO: - if (IS_PIN_DIGITAL(pin)) { - Firmata.setPinMode(pin, PIN_MODE_SERVO); - if (servoPinMap[pin] == 255 || !servos[servoPinMap[pin]].attached()) { - // pass -1 for min and max pulse values to use default values set - // by Servo library - attachServo(pin, -1, -1); - } - } - break; - case PIN_MODE_I2C: - if (IS_PIN_I2C(pin)) { - // mark the pin as i2c - // the user must call I2C_CONFIG to enable I2C for a device - Firmata.setPinMode(pin, PIN_MODE_I2C); - } - break; - case PIN_MODE_SERIAL: -#ifdef FIRMATA_SERIAL_FEATURE - serialFeature.handlePinMode(pin, PIN_MODE_SERIAL); -#endif - break; - default: - Firmata.sendString("Unknown pin mode"); // TODO: put error msgs in EEPROM - } - // TODO: save status to EEPROM here, if changed -} - -/* - * Sets the value of an individual pin. Useful if you want to set a pin value but - * are not tracking the digital port state. - * Can only be used on pins configured as OUTPUT. - * Cannot be used to enable pull-ups on Digital INPUT pins. - */ -void setPinValueCallback(byte pin, int value) -{ - if (pin < TOTAL_PINS && IS_PIN_DIGITAL(pin)) { - if (Firmata.getPinMode(pin) == OUTPUT) { - Firmata.setPinState(pin, value); - digitalWrite(PIN_TO_DIGITAL(pin), value); - } - } -} - -void analogWriteCallback(byte pin, int value) -{ - if (pin < TOTAL_PINS) { - switch (Firmata.getPinMode(pin)) { - case PIN_MODE_SERVO: - if (IS_PIN_DIGITAL(pin)) - servos[servoPinMap[pin]].write(value); - Firmata.setPinState(pin, value); - break; - case PIN_MODE_PWM: - if (IS_PIN_PWM(pin)) - analogWrite(PIN_TO_PWM(pin), value); - Firmata.setPinState(pin, value); - break; - } - } -} - -void digitalWriteCallback(byte port, int value) -{ - byte pin, lastPin, pinValue, 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)) { - // do not touch pins in PWM, ANALOG, SERVO or other modes - if (Firmata.getPinMode(pin) == OUTPUT || Firmata.getPinMode(pin) == INPUT) { - pinValue = ((byte)value & mask) ? 1 : 0; - if (Firmata.getPinMode(pin) == OUTPUT) { - pinWriteMask |= mask; - } else if (Firmata.getPinMode(pin) == INPUT && pinValue == 1 && Firmata.getPinState(pin) != 1) { - // only handle INPUT here for backwards compatibility -#if ARDUINO > 100 - pinMode(pin, INPUT_PULLUP); -#else - // only write to the INPUT pin to enable pullups if Arduino v1.0.0 or earlier - pinWriteMask |= mask; -#endif - } - Firmata.setPinState(pin, pinValue); - } - } - 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); - // prevent during system reset or all analog pin values will be reported - // which may report noise for unconnected analog pins - if (!isResetting) { - // Send pin value immediately. This is helpful when connected via - // ethernet, wi-fi or bluetooth so pin states can be known upon - // reconnecting. - Firmata.sendAnalog(analogPin, analogRead(analogPin)); - } - } - } - // TODO: save status to EEPROM here, if changed -} - -void reportDigitalCallback(byte port, int value) -{ - if (port < TOTAL_PORTS) { - reportPINs[port] = (byte)value; - // Send port value immediately. This is helpful when connected via - // ethernet, wi-fi or bluetooth so pin states can be known upon - // reconnecting. - if (value) outputPort(port, readPort(port, portConfigInputs[port]), true); - } - // 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 stopTX; - byte slaveAddress; - byte data; - int slaveRegister; - 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 not supported"); - return; - } - else { - slaveAddress = argv[0]; - } - - // need to invert the logic here since 0 will be default for client - // libraries that have not updated to add support for restart tx - if (argv[1] & I2C_END_TX_MASK) { - stopTX = I2C_RESTART_TX; - } - else { - stopTX = I2C_STOP_TX; // default - } - - switch (mode) { - case I2C_WRITE: - Wire.beginTransmission(slaveAddress); - for (byte i = 2; i < argc; i += 2) { - data = argv[i] + (argv[i + 1] << 7); - wireWrite(data); - } - 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 - } - else { - // a slave register is NOT specified - slaveRegister = I2C_REGISTER_NOT_SPECIFIED; - data = argv[2] + (argv[3] << 7); // bytes to read - } - readAndReportData(slaveAddress, (int)slaveRegister, data, stopTX); - break; - case I2C_READ_CONTINUOUSLY: - if ((queryIndex + 1) >= I2C_MAX_QUERIES) { - // too many queries, just ignore - Firmata.sendString("too many queries"); - break; - } - if (argc == 6) { - // a slave register is specified - slaveRegister = argv[2] + (argv[3] << 7); - data = argv[4] + (argv[5] << 7); // bytes to read - } - else { - // a slave register is NOT specified - slaveRegister = (int)I2C_REGISTER_NOT_SPECIFIED; - data = argv[2] + (argv[3] << 7); // bytes to read - } - queryIndex++; - query[queryIndex].addr = slaveAddress; - query[queryIndex].reg = slaveRegister; - query[queryIndex].bytes = data; - query[queryIndex].stopTX = stopTX; - 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 { - queryIndexToSkip = 0; - // 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 < I2C_MAX_QUERIES) { - query[i].addr = query[i + 1].addr; - query[i].reg = query[i + 1].reg; - query[i].bytes = query[i + 1].bytes; - query[i].stopTX = query[i + 1].stopTX; - } - } - queryIndex--; - } - break; - default: - break; - } - break; - case I2C_CONFIG: - delayTime = (argv[0] + (argv[1] << 7)); - - if (argc > 1 && 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_DIGITAL(pin)) { - if (servoPinMap[pin] < MAX_SERVOS && servos[servoPinMap[pin]].attached()) { - detachServo(pin); - } - attachServo(pin, minPulse, maxPulse); - setPinModeCallback(pin, PIN_MODE_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: - Firmata.write(START_SYSEX); - Firmata.write(CAPABILITY_RESPONSE); - for (byte pin = 0; pin < TOTAL_PINS; pin++) { - if (IS_PIN_DIGITAL(pin)) { - Firmata.write((byte)INPUT); - Firmata.write(1); - Firmata.write((byte)PIN_MODE_PULLUP); - Firmata.write(1); - Firmata.write((byte)OUTPUT); - Firmata.write(1); - } - if (IS_PIN_ANALOG(pin)) { - Firmata.write(PIN_MODE_ANALOG); - Firmata.write(10); // 10 = 10-bit resolution - } - if (IS_PIN_PWM(pin)) { - Firmata.write(PIN_MODE_PWM); - Firmata.write(8); // 8 = 8-bit resolution - } - if (IS_PIN_DIGITAL(pin)) { - Firmata.write(PIN_MODE_SERVO); - Firmata.write(14); - } - if (IS_PIN_I2C(pin)) { - Firmata.write(PIN_MODE_I2C); - Firmata.write(1); // TODO: could assign a number to map to SCL or SDA - } -#ifdef FIRMATA_SERIAL_FEATURE - serialFeature.handleCapability(pin); -#endif - Firmata.write(127); - } - Firmata.write(END_SYSEX); - break; - case PIN_STATE_QUERY: - if (argc > 0) { - byte pin = argv[0]; - Firmata.write(START_SYSEX); - Firmata.write(PIN_STATE_RESPONSE); - Firmata.write(pin); - if (pin < TOTAL_PINS) { - Firmata.write(Firmata.getPinMode(pin)); - Firmata.write((byte)Firmata.getPinState(pin) & 0x7F); - if (Firmata.getPinState(pin) & 0xFF80) Firmata.write((byte)(Firmata.getPinState(pin) >> 7) & 0x7F); - if (Firmata.getPinState(pin) & 0xC000) Firmata.write((byte)(Firmata.getPinState(pin) >> 14) & 0x7F); - } - Firmata.write(END_SYSEX); - } - break; - case ANALOG_MAPPING_QUERY: - Firmata.write(START_SYSEX); - Firmata.write(ANALOG_MAPPING_RESPONSE); - for (byte pin = 0; pin < TOTAL_PINS; pin++) { - Firmata.write(IS_PIN_ANALOG(pin) ? PIN_TO_ANALOG(pin) : 127); - } - Firmata.write(END_SYSEX); - break; - - case SERIAL_MESSAGE: -#ifdef FIRMATA_SERIAL_FEATURE - serialFeature.handleSysex(command, argc, argv); -#endif - break; - } -} - -/*============================================================================== - * SETUP() - *============================================================================*/ - -void systemResetCallback() -{ - isResetting = true; - -#ifdef FIRMATA_SERIAL_FEATURE - serialFeature.reset(); -#endif - - if (isI2CEnabled) { - disableI2CPins(); - } - - for (byte i = 0; i < TOTAL_PORTS; i++) { - reportPINs[i] = false; // by default, reporting off - portConfigInputs[i] = 0; // until activated - previousPINs[i] = 0; - } - - for (byte i = 0; i < TOTAL_PINS; i++) { - // pins with analog capability default to analog input - // otherwise, pins default to digital output - if (IS_PIN_ANALOG(i)) { - // turns off pullup, configures everything - setPinModeCallback(i, PIN_MODE_ANALOG); - } else if (IS_PIN_DIGITAL(i)) { - // sets the output to 0, configures portConfigInputs - setPinModeCallback(i, OUTPUT); - } - - servoPinMap[i] = 255; - } - // by default, do not report any analog inputs - analogInputsToReport = 0; - - detachedServoCount = 0; - servoCount = 0; - - isResetting = false; -} - void setup() { DEBUG_BEGIN(9600); - Firmata.setFirmwareVersion(FIRMATA_FIRMWARE_MAJOR_VERSION, FIRMATA_FIRMWARE_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(SET_DIGITAL_PIN_VALUE, setPinValueCallback); - Firmata.attach(START_SYSEX, sysexCallback); - Firmata.attach(SYSTEM_RESET, systemResetCallback); - + initFirmataCommonBegin(); + stream.setLocalName(FIRMATA_BLE_LOCAL_NAME); #ifdef FIRMATA_BLE_ADVERTISING_INTERVAL @@ -791,7 +69,7 @@ void setup() stream.begin(); Firmata.begin(stream); - systemResetCallback(); // reset to default config + initFirmataCommonEnd(); } /*============================================================================== @@ -799,42 +77,9 @@ void setup() *============================================================================*/ void loop() { - byte pin, analogPin; - // do not process data if no BLE connection is established // poll will send the TX buffer at the specified flush interval or when the buffer is full if (!stream.poll()) return; - /* DIGITALREAD - as fast as possible, check for changes and output them to the - * Stream buffer using Stream.write() */ - checkDigitalInputs(); - - /* STREAMREAD - processing incoming messagse as soon as possible, while still - * checking digital inputs. */ - while (Firmata.available()) - Firmata.processInput(); - - currentMillis = millis(); - if (currentMillis - previousMillis > samplingInterval) { - previousMillis = currentMillis; - /* ANALOGREAD - do all analogReads() at the configured sampling interval */ - for (pin = 0; pin < TOTAL_PINS; pin++) { - if (IS_PIN_ANALOG(pin) && Firmata.getPinMode(pin) == PIN_MODE_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, query[i].stopTX); - } - } - } - -#ifdef FIRMATA_SERIAL_FEATURE - serialFeature.update(); -#endif + loopFirmataCommon(true /* BLE specific */); } diff --git a/examples/StandardFirmataChipKIT/StandardFirmataChipKIT.ino b/examples/StandardFirmataChipKIT/StandardFirmataChipKIT.ino index e7a79353..cf960f22 100644 --- a/examples/StandardFirmataChipKIT/StandardFirmataChipKIT.ino +++ b/examples/StandardFirmataChipKIT/StandardFirmataChipKIT.ino @@ -26,732 +26,25 @@ #include // Gives us PWM and Servo on every pin #include -#include -#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 I2C_END_TX_MASK B01000000 -#define I2C_STOP_TX 1 -#define I2C_RESTART_TX 0 -#define I2C_MAX_QUERIES 8 -#define I2C_REGISTER_NOT_SPECIFIED -1 - -// the minimum interval for sampling analog input -#define MINIMUM_SAMPLING_INTERVAL 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 portConfigInputs[TOTAL_PORTS]; // each bit: 1 = pin in INPUT, 0 = anything else - -/* timer variables */ -unsigned long currentMillis; // store the current value from millis() -unsigned long previousMillis; // for comparison with currentMillis -unsigned int samplingInterval = 19; // how often to run the main loop (in ms) - -/* i2c data */ -struct i2c_device_info { - byte addr; - int reg; - byte bytes; - byte stopTX; -}; - -/* for i2c read continuous more */ -i2c_device_info query[I2C_MAX_QUERIES]; - -byte i2cRxData[64]; -boolean isI2CEnabled = false; -signed char queryIndex = -1; -// default delay time between i2c read request and Wire.requestFrom() -unsigned int i2cReadDelayTime = 0; - -SoftServo servos[MAX_SERVOS]; -byte servoPinMap[TOTAL_PINS]; -byte detachedServos[MAX_SERVOS]; -byte detachedServoCount = 0; -byte servoCount = 0; - -boolean isResetting = false; - -// Forward declare a few functions to avoid compiler errors with older versions -// of the Arduino IDE. -void setPinModeCallback(byte, int); -void reportAnalogCallback(byte analogPin, int value); -void sysexCallback(byte, byte, byte*); - -/* utility functions */ -void wireWrite(byte data) -{ -#if ARDUINO >= 100 - Wire.write((byte)data); -#else - Wire.send(data); -#endif -} - -byte wireRead(void) -{ -#if ARDUINO >= 100 - return Wire.read(); -#else - return Wire.receive(); -#endif -} - -/*============================================================================== - * FUNCTIONS - *============================================================================*/ - -void attachServo(byte pin, int minPulse, int maxPulse) -{ - if (servoCount < MAX_SERVOS) { - // reuse indexes of detached servos until all have been reallocated - if (detachedServoCount > 0) { - servoPinMap[pin] = detachedServos[detachedServoCount - 1]; - if (detachedServoCount > 0) detachedServoCount--; - } else { - servoPinMap[pin] = servoCount; - servoCount++; - } - if (minPulse > 0 && maxPulse > 0) { - servos[servoPinMap[pin]].attach(PIN_TO_DIGITAL(pin), minPulse, maxPulse); - } else { - servos[servoPinMap[pin]].attach(PIN_TO_DIGITAL(pin)); - } - } else { - Firmata.sendString("Max servos attached"); - } -} - -void detachServo(byte pin) -{ - servos[servoPinMap[pin]].detach(); - // if we're detaching the last servo, decrement the count - // otherwise store the index of the detached servo - if (servoPinMap[pin] == servoCount && servoCount > 0) { - servoCount--; - } else if (servoCount > 0) { - // keep track of detached servos because we want to reuse their indexes - // before incrementing the count of attached servos - detachedServoCount++; - detachedServos[detachedServoCount - 1] = servoPinMap[pin]; - } - - servoPinMap[pin] = 255; -} - -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, PIN_MODE_I2C); - } - } - - isI2CEnabled = true; - - 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; -} - -void readAndReportData(byte address, int theRegister, byte numBytes, byte stopTX) { - // 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 != I2C_REGISTER_NOT_SPECIFIED) { - Wire.beginTransmission(address); - wireWrite((byte)theRegister); - Wire.endTransmission(stopTX); // default = true - // do not set a value of 0 - if (i2cReadDelayTime > 0) { - // delay is necessary for some devices such as WiiNunchuck - delayMicroseconds(i2cReadDelayTime); - } - } 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()) { - Firmata.sendString("I2C: Too many bytes received"); - } else if (numBytes > Wire.available()) { - Firmata.sendString("I2C: Too few bytes received"); - numBytes = Wire.available(); - } - - i2cRxData[0] = address; - i2cRxData[1] = theRegister; - - for (int i = 0; i < numBytes && Wire.available(); i++) { - i2cRxData[2 + i] = wireRead(); - } - - // 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 a pin that is in Servo mode to a particular output value * (i.e. pulse width). Different boards may have different ways of * setting servo values, so putting it in a function keeps things cleaner. */ -void servoWrite(byte pin, int value) -{ - SoftPWMServoPWMWrite(PIN_TO_PWM(pin), value); -} - -// ----------------------------------------------------------------------------- -/* 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) +void servoWrite(byte pwmpin, int value) { - if (Firmata.getPinMode(pin) == PIN_MODE_IGNORE) - return; - - if (Firmata.getPinMode(pin) == PIN_MODE_I2C && isI2CEnabled && mode != PIN_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_DIGITAL(pin) && mode != PIN_MODE_SERVO) { - if (servoPinMap[pin] < MAX_SERVOS && servos[servoPinMap[pin]].attached()) { - detachServo(pin); - } - } - if (IS_PIN_ANALOG(pin)) { - reportAnalogCallback(PIN_TO_ANALOG(pin), mode == PIN_MODE_ANALOG ? 1 : 0); // turn on/off reporting - } - if (IS_PIN_DIGITAL(pin)) { - if (mode == INPUT || mode == PIN_MODE_PULLUP) { - portConfigInputs[pin / 8] |= (1 << (pin & 7)); - } else { - portConfigInputs[pin / 8] &= ~(1 << (pin & 7)); - } - } - Firmata.setPinState(pin, 0); - switch (mode) { - case PIN_MODE_ANALOG: - if (IS_PIN_ANALOG(pin)) { - if (IS_PIN_DIGITAL(pin)) { - pinMode(PIN_TO_DIGITAL(pin), INPUT); // disable output driver -#if ARDUINO <= 100 - // deprecated since Arduino 1.0.1 - TODO: drop support in Firmata 2.6 - digitalWrite(PIN_TO_DIGITAL(pin), LOW); // disable internal pull-ups -#endif - } - Firmata.setPinMode(pin, PIN_MODE_ANALOG); - } - break; - case INPUT: - if (IS_PIN_DIGITAL(pin)) { - pinMode(PIN_TO_DIGITAL(pin), INPUT); // disable output driver -#if ARDUINO <= 100 - // deprecated since Arduino 1.0.1 - TODO: drop support in Firmata 2.6 - digitalWrite(PIN_TO_DIGITAL(pin), LOW); // disable internal pull-ups -#endif - Firmata.setPinMode(pin, INPUT); - } - break; - case PIN_MODE_PULLUP: - if (IS_PIN_DIGITAL(pin)) { - pinMode(PIN_TO_DIGITAL(pin), INPUT_PULLUP); - Firmata.setPinMode(pin, PIN_MODE_PULLUP); - Firmata.setPinState(pin, 1); - } - break; - case OUTPUT: - if (IS_PIN_DIGITAL(pin)) { - if (Firmata.getPinMode(pin) == PIN_MODE_PWM) { - // Disable PWM if pin mode was previously set to PWM. - digitalWrite(PIN_TO_DIGITAL(pin), LOW); - } - pinMode(PIN_TO_DIGITAL(pin), OUTPUT); - Firmata.setPinMode(pin, OUTPUT); - } - break; - case PIN_MODE_PWM: - if (IS_PIN_PWM(pin)) { - pinMode(PIN_TO_PWM(pin), OUTPUT); - servoWrite(PIN_TO_PWM(pin), 0); - Firmata.setPinMode(pin, PIN_MODE_PWM); - } - break; - case PIN_MODE_SERVO: - if (IS_PIN_DIGITAL(pin)) { - Firmata.setPinMode(pin, PIN_MODE_SERVO); - if (servoPinMap[pin] == 255 || !servos[servoPinMap[pin]].attached()) { - // pass -1 for min and max pulse values to use default values set - // by Servo library - attachServo(pin, -1, -1); - } - } - break; - case PIN_MODE_I2C: - if (IS_PIN_I2C(pin)) { - // mark the pin as i2c - // the user must call I2C_CONFIG to enable I2C for a device - Firmata.setPinMode(pin, PIN_MODE_I2C); - } - break; - default: - Firmata.sendString("Unknown pin mode"); // TODO: put error msgs in EEPROM - } - // TODO: save status to EEPROM here, if changed + SoftPWMServoPWMWrite(pwm_pin, value); } -/* - * Sets the value of an individual pin. Useful if you want to set a pin value but - * are not tracking the digital port state. - * Can only be used on pins configured as OUTPUT. - * Cannot be used to enable pull-ups on Digital INPUT pins. - */ -void setPinValueCallback(byte pin, int value) -{ - if (pin < TOTAL_PINS && IS_PIN_DIGITAL(pin)) { - if (Firmata.getPinMode(pin) == OUTPUT) { - Firmata.setPinState(pin, value); - digitalWrite(PIN_TO_DIGITAL(pin), value); - } - } -} - -void analogWriteCallback(byte pin, int value) -{ - if (pin < TOTAL_PINS) { - switch (Firmata.getPinMode(pin)) { - case PIN_MODE_SERVO: - if (IS_PIN_DIGITAL(pin)) - servos[servoPinMap[pin]].write(value); - Firmata.setPinState(pin, value); - break; - case PIN_MODE_PWM: - if (IS_PIN_PWM(pin)) - servoWrite(PIN_TO_PWM(pin), value); - Firmata.setPinState(pin, value); - break; - } - } -} - -void digitalWriteCallback(byte port, int value) -{ - byte pin, lastPin, pinValue, mask = 1, pinWriteMask = 0; +#define SERVO SoftServo +#define ANALOGWRITE_PIN_MODE_PWM servoWrite +#undef FIRMATA_SERIAL_FEATURE - 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)) { - // do not touch pins in PWM, ANALOG, SERVO or other modes - if (Firmata.getPinMode(pin) == OUTPUT || Firmata.getPinMode(pin) == INPUT) { - pinValue = ((byte)value & mask) ? 1 : 0; - if (Firmata.getPinMode(pin) == OUTPUT) { - pinWriteMask |= mask; - } else if (Firmata.getPinMode(pin) == INPUT && pinValue == 1 && Firmata.getPinState(pin) != 1) { - // only handle INPUT here for backwards compatibility -#if ARDUINO > 100 - pinMode(pin, INPUT_PULLUP); -#else - // only write to the INPUT pin to enable pullups if Arduino v1.0.0 or earlier - pinWriteMask |= mask; -#endif - } - Firmata.setPinState(pin, pinValue); - } - } - 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); - // prevent during system reset or all analog pin values will be reported - // which may report noise for unconnected analog pins - if (!isResetting) { - // Send pin value immediately. This is helpful when connected via - // ethernet, wi-fi or bluetooth so pin states can be known upon - // reconnecting. - Firmata.sendAnalog(analogPin, analogRead(analogPin)); - } - } - } - // TODO: save status to EEPROM here, if changed -} - -void reportDigitalCallback(byte port, int value) -{ - if (port < TOTAL_PORTS) { - reportPINs[port] = (byte)value; - // Send port value immediately. This is helpful when connected via - // ethernet, wi-fi or bluetooth so pin states can be known upon - // reconnecting. - if (value) outputPort(port, readPort(port, portConfigInputs[port]), true); - } - // 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 stopTX; - byte slaveAddress; - byte data; - int slaveRegister; - 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 not supported"); - return; - } - else { - slaveAddress = argv[0]; - } - - // need to invert the logic here since 0 will be default for client - // libraries that have not updated to add support for restart tx - if (argv[1] & I2C_END_TX_MASK) { - stopTX = I2C_RESTART_TX; - } - else { - stopTX = I2C_STOP_TX; // default - } - - switch (mode) { - case I2C_WRITE: - Wire.beginTransmission(slaveAddress); - for (byte i = 2; i < argc; i += 2) { - data = argv[i] + (argv[i + 1] << 7); - wireWrite(data); - } - 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 - } - else { - // a slave register is NOT specified - slaveRegister = I2C_REGISTER_NOT_SPECIFIED; - data = argv[2] + (argv[3] << 7); // bytes to read - } - readAndReportData(slaveAddress, (int)slaveRegister, data, stopTX); - break; - case I2C_READ_CONTINUOUSLY: - if ((queryIndex + 1) >= I2C_MAX_QUERIES) { - // too many queries, just ignore - Firmata.sendString("too many queries"); - break; - } - if (argc == 6) { - // a slave register is specified - slaveRegister = argv[2] + (argv[3] << 7); - data = argv[4] + (argv[5] << 7); // bytes to read - } - else { - // a slave register is NOT specified - slaveRegister = (int)I2C_REGISTER_NOT_SPECIFIED; - data = argv[2] + (argv[3] << 7); // bytes to read - } - queryIndex++; - query[queryIndex].addr = slaveAddress; - query[queryIndex].reg = slaveRegister; - query[queryIndex].bytes = data; - query[queryIndex].stopTX = stopTX; - 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 { - queryIndexToSkip = 0; - // 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 < I2C_MAX_QUERIES) { - query[i].addr = query[i + 1].addr; - query[i].reg = query[i + 1].reg; - query[i].bytes = query[i + 1].bytes; - query[i].stopTX = query[i + 1].stopTX; - } - } - queryIndex--; - } - break; - default: - break; - } - break; - case I2C_CONFIG: - delayTime = (argv[0] + (argv[1] << 7)); - - if (argc > 1 && 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_DIGITAL(pin)) { - if (servoPinMap[pin] < MAX_SERVOS && servos[servoPinMap[pin]].attached()) { - detachServo(pin); - } - attachServo(pin, minPulse, maxPulse); - setPinModeCallback(pin, PIN_MODE_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: - Firmata.write(START_SYSEX); - Firmata.write(CAPABILITY_RESPONSE); - for (byte pin = 0; pin < TOTAL_PINS; pin++) { - if (IS_PIN_DIGITAL(pin)) { - Firmata.write((byte)INPUT); - Firmata.write(1); - Firmata.write((byte)PIN_MODE_PULLUP); - Firmata.write(1); - Firmata.write((byte)OUTPUT); - Firmata.write(1); - } - if (IS_PIN_ANALOG(pin)) { - Firmata.write(PIN_MODE_ANALOG); - Firmata.write(10); // 10 = 10-bit resolution - } - if (IS_PIN_PWM(pin)) { - Firmata.write(PIN_MODE_PWM); - Firmata.write(DEFAULT_PWM_RESOLUTION); - } - if (IS_PIN_DIGITAL(pin)) { - Firmata.write(PIN_MODE_SERVO); - Firmata.write(14); - } - if (IS_PIN_I2C(pin)) { - Firmata.write(PIN_MODE_I2C); - Firmata.write(1); // TODO: could assign a number to map to SCL or SDA - } - Firmata.write(127); - } - Firmata.write(END_SYSEX); - break; - case PIN_STATE_QUERY: - if (argc > 0) { - byte pin = argv[0]; - Firmata.write(START_SYSEX); - Firmata.write(PIN_STATE_RESPONSE); - Firmata.write(pin); - if (pin < TOTAL_PINS) { - Firmata.write(Firmata.getPinMode(pin)); - Firmata.write((byte)Firmata.getPinState(pin) & 0x7F); - if (Firmata.getPinState(pin) & 0xFF80) Firmata.write((byte)(Firmata.getPinState(pin) >> 7) & 0x7F); - if (Firmata.getPinState(pin) & 0xC000) Firmata.write((byte)(Firmata.getPinState(pin) >> 14) & 0x7F); - } - Firmata.write(END_SYSEX); - } - break; - case ANALOG_MAPPING_QUERY: - Firmata.write(START_SYSEX); - Firmata.write(ANALOG_MAPPING_RESPONSE); - for (byte pin = 0; pin < TOTAL_PINS; pin++) { - Firmata.write(IS_PIN_ANALOG(pin) ? PIN_TO_ANALOG(pin) : 127); - } - Firmata.write(END_SYSEX); - break; - } -} - -/*============================================================================== - * SETUP() - *============================================================================*/ - -void systemResetCallback() -{ - isResetting = true; - // initialize a defalt state - // TODO: option to load config from EEPROM instead of default - if (isI2CEnabled) { - disableI2CPins(); - } - - for (byte i = 0; i < TOTAL_PORTS; i++) { - reportPINs[i] = false; // by default, reporting off - portConfigInputs[i] = 0; // until activated - previousPINs[i] = 0; - } - - for (byte i = 0; i < TOTAL_PINS; i++) { - // pins with analog capability default to analog input - // otherwise, pins default to digital output - if (IS_PIN_ANALOG(i)) { - // turns off pullup, configures everything - setPinModeCallback(i, PIN_MODE_ANALOG); - } else if (IS_PIN_DIGITAL(i)) { - // sets the output to 0, configures portConfigInputs - setPinModeCallback(i, OUTPUT); - } - - servoPinMap[i] = 255; - } - // by default, do not report any analog inputs - analogInputsToReport = 0; - - detachedServoCount = 0; - servoCount = 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); - } - */ - isResetting = false; -} +#include "utility/ExampleStandardFirmataCommon.h" void setup() { - Firmata.setFirmwareVersion(FIRMATA_FIRMWARE_MAJOR_VERSION, FIRMATA_FIRMWARE_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(SET_DIGITAL_PIN_VALUE, setPinValueCallback); - Firmata.attach(START_SYSEX, sysexCallback); - Firmata.attach(SYSTEM_RESET, systemResetCallback); + initFirmataCommonBegin(); /* For chipKIT Pi board, we need to use Serial1. All others just use Serial. */ #if defined(_BOARD_CHIPKIT_PI_) @@ -760,7 +53,8 @@ void setup() #else Firmata.begin(57600); #endif - systemResetCallback(); // reset to default config + + initFirmataCommonEnd(); } /*============================================================================== @@ -768,36 +62,5 @@ void setup() *============================================================================*/ void loop() { - byte pin, analogPin; - - /* DIGITALREAD - as fast as possible, check for changes and output them to the - * FTDI buffer using Serial.print() */ - checkDigitalInputs(); - - /* STREAMREAD - processing incoming messagse as soon as possible, while still - * checking digital inputs. */ - while (Firmata.available()) - Firmata.processInput(); - - // TODO - ensure that Stream buffer doesn't go over 60 bytes - - 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) && Firmata.getPinMode(pin) == PIN_MODE_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, query[i].stopTX); - } - } - } + loopFirmataCommon(); } diff --git a/examples/StandardFirmataEthernet/StandardFirmataEthernet.ino b/examples/StandardFirmataEthernet/StandardFirmataEthernet.ino index 6795c215..06605d36 100644 --- a/examples/StandardFirmataEthernet/StandardFirmataEthernet.ino +++ b/examples/StandardFirmataEthernet/StandardFirmataEthernet.ino @@ -55,7 +55,8 @@ #include #include -#include +#include "utility/ExampleStandardFirmataCommon.h" + /* * Uncomment the #define SERIAL_DEBUG line below to receive serial output messages relating to your @@ -83,756 +84,6 @@ // Arduino IDE v1.6.6 or higher. Hardware serial should work back to Arduino 1.0. //#include "utility/SerialFirmata.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 I2C_END_TX_MASK B01000000 -#define I2C_STOP_TX 1 -#define I2C_RESTART_TX 0 -#define I2C_MAX_QUERIES 8 -#define I2C_REGISTER_NOT_SPECIFIED -1 - -// the minimum interval for sampling analog input -#define MINIMUM_SAMPLING_INTERVAL 1 - -/*============================================================================== - * GLOBAL VARIABLES - *============================================================================*/ - -#if defined remote_ip && !defined remote_host -#ifdef local_ip -EthernetClientStream stream(client, local_ip, remote_ip, NULL, network_port); -#else -EthernetClientStream stream(client, IPAddress(0, 0, 0, 0), remote_ip, NULL, network_port); -#endif -#endif - -#if !defined remote_ip && defined remote_host -#ifdef local_ip -EthernetClientStream stream(client, local_ip, IPAddress(0, 0, 0, 0), remote_host, network_port ); -#else -EthernetClientStream stream(client, IPAddress(0, 0, 0, 0), IPAddress(0, 0, 0, 0), remote_host, network_port); -#endif -#endif - -#if !defined remote_ip && !defined remote_host -#ifdef local_ip -EthernetServerStream stream(local_ip, network_port); -#else -EthernetServerStream stream(IPAddress(0, 0, 0, 0), network_port); -#endif -#endif - -#ifdef FIRMATA_SERIAL_FEATURE -SerialFirmata serialFeature; -#endif - -/* 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 portConfigInputs[TOTAL_PORTS]; // each bit: 1 = pin in INPUT, 0 = anything else - -/* timer variables */ -unsigned long currentMillis; // store the current value from millis() -unsigned long previousMillis; // for comparison with currentMillis -unsigned int samplingInterval = 19; // how often to sample analog inputs (in ms) - -/* i2c data */ -struct i2c_device_info { - byte addr; - int reg; - byte bytes; - byte stopTX; -}; - -/* for i2c read continuous mode */ -i2c_device_info query[I2C_MAX_QUERIES]; - -byte i2cRxData[64]; -boolean isI2CEnabled = false; -signed char queryIndex = -1; -// default delay time between i2c read request and Wire.requestFrom() -unsigned int i2cReadDelayTime = 0; - -Servo servos[MAX_SERVOS]; -byte servoPinMap[TOTAL_PINS]; -byte detachedServos[MAX_SERVOS]; -byte detachedServoCount = 0; -byte servoCount = 0; - -boolean isResetting = false; - -// Forward declare a few functions to avoid compiler errors with older versions -// of the Arduino IDE. -void setPinModeCallback(byte, int); -void reportAnalogCallback(byte analogPin, int value); -void sysexCallback(byte, byte, byte*); - -/* utility functions */ -void wireWrite(byte data) -{ -#if ARDUINO >= 100 - Wire.write((byte)data); -#else - Wire.send(data); -#endif -} - -byte wireRead(void) -{ -#if ARDUINO >= 100 - return Wire.read(); -#else - return Wire.receive(); -#endif -} - -/*============================================================================== - * FUNCTIONS - *============================================================================*/ - -void attachServo(byte pin, int minPulse, int maxPulse) -{ - if (servoCount < MAX_SERVOS) { - // reuse indexes of detached servos until all have been reallocated - if (detachedServoCount > 0) { - servoPinMap[pin] = detachedServos[detachedServoCount - 1]; - if (detachedServoCount > 0) detachedServoCount--; - } else { - servoPinMap[pin] = servoCount; - servoCount++; - } - if (minPulse > 0 && maxPulse > 0) { - servos[servoPinMap[pin]].attach(PIN_TO_DIGITAL(pin), minPulse, maxPulse); - } else { - servos[servoPinMap[pin]].attach(PIN_TO_DIGITAL(pin)); - } - } else { - Firmata.sendString("Max servos attached"); - } -} - -void detachServo(byte pin) -{ - servos[servoPinMap[pin]].detach(); - // if we're detaching the last servo, decrement the count - // otherwise store the index of the detached servo - if (servoPinMap[pin] == servoCount && servoCount > 0) { - servoCount--; - } else if (servoCount > 0) { - // keep track of detached servos because we want to reuse their indexes - // before incrementing the count of attached servos - detachedServoCount++; - detachedServos[detachedServoCount - 1] = servoPinMap[pin]; - } - - servoPinMap[pin] = 255; -} - -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, PIN_MODE_I2C); - } - } - - isI2CEnabled = true; - - 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; -} - -void readAndReportData(byte address, int theRegister, byte numBytes, byte stopTX) { - // 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 != I2C_REGISTER_NOT_SPECIFIED) { - Wire.beginTransmission(address); - wireWrite((byte)theRegister); - Wire.endTransmission(stopTX); // default = true - // do not set a value of 0 - if (i2cReadDelayTime > 0) { - // delay is necessary for some devices such as WiiNunchuck - delayMicroseconds(i2cReadDelayTime); - } - } 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()) { - Firmata.sendString("I2C: Too many bytes received"); - } else if (numBytes > Wire.available()) { - Firmata.sendString("I2C: Too few bytes received"); - numBytes = Wire.available(); - } - - i2cRxData[0] = address; - i2cRxData[1] = theRegister; - - for (int i = 0; i < numBytes && Wire.available(); i++) { - i2cRxData[2 + i] = wireRead(); - } - - // 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 Stream output queue using Stream.write() */ -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 (Firmata.getPinMode(pin) == PIN_MODE_IGNORE) - return; - - if (Firmata.getPinMode(pin) == PIN_MODE_I2C && isI2CEnabled && mode != PIN_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_DIGITAL(pin) && mode != PIN_MODE_SERVO) { - if (servoPinMap[pin] < MAX_SERVOS && servos[servoPinMap[pin]].attached()) { - detachServo(pin); - } - } - if (IS_PIN_ANALOG(pin)) { - // turn on/off reporting - reportAnalogCallback(PIN_TO_ANALOG(pin), mode == PIN_MODE_ANALOG ? 1 : 0); - } - if (IS_PIN_DIGITAL(pin)) { - if (mode == INPUT || mode == PIN_MODE_PULLUP) { - portConfigInputs[pin / 8] |= (1 << (pin & 7)); - } else { - portConfigInputs[pin / 8] &= ~(1 << (pin & 7)); - } - } - Firmata.setPinState(pin, 0); - switch (mode) { - case PIN_MODE_ANALOG: - if (IS_PIN_ANALOG(pin)) { - if (IS_PIN_DIGITAL(pin)) { - pinMode(PIN_TO_DIGITAL(pin), INPUT); // disable output driver -#if ARDUINO <= 100 - // deprecated since Arduino 1.0.1 - TODO: drop support in Firmata 2.6 - digitalWrite(PIN_TO_DIGITAL(pin), LOW); // disable internal pull-ups -#endif - } - Firmata.setPinMode(pin, PIN_MODE_ANALOG); - } - break; - case INPUT: - if (IS_PIN_DIGITAL(pin)) { - pinMode(PIN_TO_DIGITAL(pin), INPUT); // disable output driver -#if ARDUINO <= 100 - // deprecated since Arduino 1.0.1 - TODO: drop support in Firmata 2.6 - digitalWrite(PIN_TO_DIGITAL(pin), LOW); // disable internal pull-ups -#endif - Firmata.setPinMode(pin, INPUT); - } - break; - case PIN_MODE_PULLUP: - if (IS_PIN_DIGITAL(pin)) { - pinMode(PIN_TO_DIGITAL(pin), INPUT_PULLUP); - Firmata.setPinMode(pin, PIN_MODE_PULLUP); - Firmata.setPinState(pin, 1); - } - break; - case OUTPUT: - if (IS_PIN_DIGITAL(pin)) { - if (Firmata.getPinMode(pin) == PIN_MODE_PWM) { - // Disable PWM if pin mode was previously set to PWM. - digitalWrite(PIN_TO_DIGITAL(pin), LOW); - } - pinMode(PIN_TO_DIGITAL(pin), OUTPUT); - Firmata.setPinMode(pin, OUTPUT); - } - break; - case PIN_MODE_PWM: - if (IS_PIN_PWM(pin)) { - pinMode(PIN_TO_PWM(pin), OUTPUT); - analogWrite(PIN_TO_PWM(pin), 0); - Firmata.setPinMode(pin, PIN_MODE_PWM); - } - break; - case PIN_MODE_SERVO: - if (IS_PIN_DIGITAL(pin)) { - Firmata.setPinMode(pin, PIN_MODE_SERVO); - if (servoPinMap[pin] == 255 || !servos[servoPinMap[pin]].attached()) { - // pass -1 for min and max pulse values to use default values set - // by Servo library - attachServo(pin, -1, -1); - } - } - break; - case PIN_MODE_I2C: - if (IS_PIN_I2C(pin)) { - // mark the pin as i2c - // the user must call I2C_CONFIG to enable I2C for a device - Firmata.setPinMode(pin, PIN_MODE_I2C); - } - break; - case PIN_MODE_SERIAL: -#ifdef FIRMATA_SERIAL_FEATURE - serialFeature.handlePinMode(pin, PIN_MODE_SERIAL); -#endif - break; - default: - Firmata.sendString("Unknown pin mode"); // TODO: put error msgs in EEPROM - } - // TODO: save status to EEPROM here, if changed -} - -/* - * Sets the value of an individual pin. Useful if you want to set a pin value but - * are not tracking the digital port state. - * Can only be used on pins configured as OUTPUT. - * Cannot be used to enable pull-ups on Digital INPUT pins. - */ -void setPinValueCallback(byte pin, int value) -{ - if (pin < TOTAL_PINS && IS_PIN_DIGITAL(pin)) { - if (Firmata.getPinMode(pin) == OUTPUT) { - Firmata.setPinState(pin, value); - digitalWrite(PIN_TO_DIGITAL(pin), value); - } - } -} - -void analogWriteCallback(byte pin, int value) -{ - if (pin < TOTAL_PINS) { - switch (Firmata.getPinMode(pin)) { - case PIN_MODE_SERVO: - if (IS_PIN_DIGITAL(pin)) - servos[servoPinMap[pin]].write(value); - Firmata.setPinState(pin, value); - break; - case PIN_MODE_PWM: - if (IS_PIN_PWM(pin)) - analogWrite(PIN_TO_PWM(pin), value); - Firmata.setPinState(pin, value); - break; - } - } -} - -void digitalWriteCallback(byte port, int value) -{ - byte pin, lastPin, pinValue, 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)) { - // do not touch pins in PWM, ANALOG, SERVO or other modes - if (Firmata.getPinMode(pin) == OUTPUT || Firmata.getPinMode(pin) == INPUT) { - pinValue = ((byte)value & mask) ? 1 : 0; - if (Firmata.getPinMode(pin) == OUTPUT) { - pinWriteMask |= mask; - } else if (Firmata.getPinMode(pin) == INPUT && pinValue == 1 && Firmata.getPinState(pin) != 1) { - // only handle INPUT here for backwards compatibility -#if ARDUINO > 100 - pinMode(pin, INPUT_PULLUP); -#else - // only write to the INPUT pin to enable pullups if Arduino v1.0.0 or earlier - pinWriteMask |= mask; -#endif - } - Firmata.setPinState(pin, pinValue); - } - } - 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); - // prevent during system reset or all analog pin values will be reported - // which may report noise for unconnected analog pins - if (!isResetting) { - // Send pin value immediately. This is helpful when connected via - // ethernet, wi-fi or bluetooth so pin states can be known upon - // reconnecting. - Firmata.sendAnalog(analogPin, analogRead(analogPin)); - } - } - } - // TODO: save status to EEPROM here, if changed -} - -void reportDigitalCallback(byte port, int value) -{ - if (port < TOTAL_PORTS) { - reportPINs[port] = (byte)value; - // Send port value immediately. This is helpful when connected via - // ethernet, wi-fi or bluetooth so pin states can be known upon - // reconnecting. - if (value) outputPort(port, readPort(port, portConfigInputs[port]), true); - } - // 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 stopTX; - byte slaveAddress; - byte data; - int slaveRegister; - 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 not supported"); - return; - } - else { - slaveAddress = argv[0]; - } - - // need to invert the logic here since 0 will be default for client - // libraries that have not updated to add support for restart tx - if (argv[1] & I2C_END_TX_MASK) { - stopTX = I2C_RESTART_TX; - } - else { - stopTX = I2C_STOP_TX; // default - } - - switch (mode) { - case I2C_WRITE: - Wire.beginTransmission(slaveAddress); - for (byte i = 2; i < argc; i += 2) { - data = argv[i] + (argv[i + 1] << 7); - wireWrite(data); - } - 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 - } - else { - // a slave register is NOT specified - slaveRegister = I2C_REGISTER_NOT_SPECIFIED; - data = argv[2] + (argv[3] << 7); // bytes to read - } - readAndReportData(slaveAddress, (int)slaveRegister, data, stopTX); - break; - case I2C_READ_CONTINUOUSLY: - if ((queryIndex + 1) >= I2C_MAX_QUERIES) { - // too many queries, just ignore - Firmata.sendString("too many queries"); - break; - } - if (argc == 6) { - // a slave register is specified - slaveRegister = argv[2] + (argv[3] << 7); - data = argv[4] + (argv[5] << 7); // bytes to read - } - else { - // a slave register is NOT specified - slaveRegister = (int)I2C_REGISTER_NOT_SPECIFIED; - data = argv[2] + (argv[3] << 7); // bytes to read - } - queryIndex++; - query[queryIndex].addr = slaveAddress; - query[queryIndex].reg = slaveRegister; - query[queryIndex].bytes = data; - query[queryIndex].stopTX = stopTX; - 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 { - queryIndexToSkip = 0; - // 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 < I2C_MAX_QUERIES) { - query[i].addr = query[i + 1].addr; - query[i].reg = query[i + 1].reg; - query[i].bytes = query[i + 1].bytes; - query[i].stopTX = query[i + 1].stopTX; - } - } - queryIndex--; - } - break; - default: - break; - } - break; - case I2C_CONFIG: - delayTime = (argv[0] + (argv[1] << 7)); - - if (argc > 1 && 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_DIGITAL(pin)) { - if (servoPinMap[pin] < MAX_SERVOS && servos[servoPinMap[pin]].attached()) { - detachServo(pin); - } - attachServo(pin, minPulse, maxPulse); - setPinModeCallback(pin, PIN_MODE_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: - Firmata.write(START_SYSEX); - Firmata.write(CAPABILITY_RESPONSE); - for (byte pin = 0; pin < TOTAL_PINS; pin++) { - if (IS_PIN_DIGITAL(pin)) { - Firmata.write((byte)INPUT); - Firmata.write(1); - Firmata.write((byte)PIN_MODE_PULLUP); - Firmata.write(1); - Firmata.write((byte)OUTPUT); - Firmata.write(1); - } - if (IS_PIN_ANALOG(pin)) { - Firmata.write(PIN_MODE_ANALOG); - Firmata.write(10); // 10 = 10-bit resolution - } - if (IS_PIN_PWM(pin)) { - Firmata.write(PIN_MODE_PWM); - Firmata.write(DEFAULT_PWM_RESOLUTION); - } - if (IS_PIN_DIGITAL(pin)) { - Firmata.write(PIN_MODE_SERVO); - Firmata.write(14); - } - if (IS_PIN_I2C(pin)) { - Firmata.write(PIN_MODE_I2C); - Firmata.write(1); // TODO: could assign a number to map to SCL or SDA - } -#ifdef FIRMATA_SERIAL_FEATURE - serialFeature.handleCapability(pin); -#endif - Firmata.write(127); - } - Firmata.write(END_SYSEX); - break; - case PIN_STATE_QUERY: - if (argc > 0) { - byte pin = argv[0]; - Firmata.write(START_SYSEX); - Firmata.write(PIN_STATE_RESPONSE); - Firmata.write(pin); - if (pin < TOTAL_PINS) { - Firmata.write(Firmata.getPinMode(pin)); - Firmata.write((byte)Firmata.getPinState(pin) & 0x7F); - if (Firmata.getPinState(pin) & 0xFF80) Firmata.write((byte)(Firmata.getPinState(pin) >> 7) & 0x7F); - if (Firmata.getPinState(pin) & 0xC000) Firmata.write((byte)(Firmata.getPinState(pin) >> 14) & 0x7F); - } - Firmata.write(END_SYSEX); - } - break; - case ANALOG_MAPPING_QUERY: - Firmata.write(START_SYSEX); - Firmata.write(ANALOG_MAPPING_RESPONSE); - for (byte pin = 0; pin < TOTAL_PINS; pin++) { - Firmata.write(IS_PIN_ANALOG(pin) ? PIN_TO_ANALOG(pin) : 127); - } - Firmata.write(END_SYSEX); - break; - - case SERIAL_MESSAGE: -#ifdef FIRMATA_SERIAL_FEATURE - serialFeature.handleSysex(command, argc, argv); -#endif - break; - } -} - -/*============================================================================== - * SETUP() - *============================================================================*/ - -void systemResetCallback() -{ - isResetting = true; - - // initialize a defalt state - // TODO: option to load config from EEPROM instead of default - -#ifdef FIRMATA_SERIAL_FEATURE - serialFeature.reset(); -#endif - - if (isI2CEnabled) { - disableI2CPins(); - } - - for (byte i = 0; i < TOTAL_PORTS; i++) { - reportPINs[i] = false; // by default, reporting off - portConfigInputs[i] = 0; // until activated - previousPINs[i] = 0; - } - - for (byte i = 0; i < TOTAL_PINS; i++) { - // pins with analog capability default to analog input - // otherwise, pins default to digital output - if (IS_PIN_ANALOG(i)) { - // turns off pullup, configures everything - setPinModeCallback(i, PIN_MODE_ANALOG); - } else if (IS_PIN_DIGITAL(i)) { - // sets the output to 0, configures portConfigInputs - setPinModeCallback(i, OUTPUT); - } - - servoPinMap[i] = 255; - } - // by default, do not report any analog inputs - analogInputsToReport = 0; - - detachedServoCount = 0; - servoCount = 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); - } - */ - isResetting = false; -} - #ifdef ETHERNETCLIENTSTREAM_H /* * Called when a TCP connection is either connected or disconnected. @@ -916,21 +167,14 @@ void initTransport() void initFirmata() { - Firmata.setFirmwareVersion(FIRMATA_FIRMWARE_MAJOR_VERSION, FIRMATA_FIRMWARE_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(SET_DIGITAL_PIN_VALUE, setPinValueCallback); - Firmata.attach(START_SYSEX, sysexCallback); - Firmata.attach(SYSTEM_RESET, systemResetCallback); + initFirmataCommonBegin(); ignorePins(); // start up Network Firmata: Firmata.begin(stream); - systemResetCallback(); // Initialize default configuration + + initFirmataCommonEnd(); } void setup() @@ -947,42 +191,7 @@ void setup() *============================================================================*/ void loop() { - byte pin, analogPin; - - /* DIGITALREAD - as fast as possible, check for changes and output them to the - * Stream buffer using Stream.write() */ - checkDigitalInputs(); - - /* STREAMREAD - processing incoming messagse as soon as possible, while still - * checking digital inputs. */ - while (Firmata.available()) - Firmata.processInput(); - - // TODO - ensure that Stream buffer doesn't go over 60 bytes - - 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) && Firmata.getPinMode(pin) == PIN_MODE_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, query[i].stopTX); - } - } - } - -#ifdef FIRMATA_SERIAL_FEATURE - serialFeature.update(); -#endif + loopFirmataCommon(); #if !defined local_ip && !defined YUN_ETHERNET // only necessary when using DHCP, ensures local IP is updated appropriately if it changes diff --git a/examples/StandardFirmataPlus/StandardFirmataPlus.ino b/examples/StandardFirmataPlus/StandardFirmataPlus.ino index caece95c..19bf9859 100644 --- a/examples/StandardFirmataPlus/StandardFirmataPlus.ino +++ b/examples/StandardFirmataPlus/StandardFirmataPlus.ino @@ -23,6 +23,10 @@ Last updated August 17th, 2017 */ +#include +#include +#include "utility/ExampleStandardFirmataCommon.h" + /* README @@ -44,753 +48,14 @@ may not as new features are added. */ -#include -#include -#include - // In order to use software serial, you will need to compile this sketch with // Arduino IDE v1.6.6 or higher. Hardware serial should work back to Arduino 1.0. #include "utility/SerialFirmata.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 I2C_END_TX_MASK B01000000 -#define I2C_STOP_TX 1 -#define I2C_RESTART_TX 0 -#define I2C_MAX_QUERIES 8 -#define I2C_REGISTER_NOT_SPECIFIED -1 - -// the minimum interval for sampling analog input -#define MINIMUM_SAMPLING_INTERVAL 1 - - -/*============================================================================== - * GLOBAL VARIABLES - *============================================================================*/ - -#ifdef FIRMATA_SERIAL_FEATURE -SerialFirmata serialFeature; -#endif - -/* 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 portConfigInputs[TOTAL_PORTS]; // each bit: 1 = pin in INPUT, 0 = anything else - -/* timer variables */ -unsigned long currentMillis; // store the current value from millis() -unsigned long previousMillis; // for comparison with currentMillis -unsigned int samplingInterval = 19; // how often to run the main loop (in ms) - -/* i2c data */ -struct i2c_device_info { - byte addr; - int reg; - byte bytes; - byte stopTX; -}; - -/* for i2c read continuous more */ -i2c_device_info query[I2C_MAX_QUERIES]; - -byte i2cRxData[64]; -boolean isI2CEnabled = false; -signed char queryIndex = -1; -// default delay time between i2c read request and Wire.requestFrom() -unsigned int i2cReadDelayTime = 0; - -Servo servos[MAX_SERVOS]; -byte servoPinMap[TOTAL_PINS]; -byte detachedServos[MAX_SERVOS]; -byte detachedServoCount = 0; -byte servoCount = 0; - -boolean isResetting = false; - -// Forward declare a few functions to avoid compiler errors with older versions -// of the Arduino IDE. -void setPinModeCallback(byte, int); -void reportAnalogCallback(byte analogPin, int value); -void sysexCallback(byte, byte, byte*); - -/* utility functions */ -void wireWrite(byte data) -{ -#if ARDUINO >= 100 - Wire.write((byte)data); -#else - Wire.send(data); -#endif -} - -byte wireRead(void) -{ -#if ARDUINO >= 100 - return Wire.read(); -#else - return Wire.receive(); -#endif -} - -/*============================================================================== - * FUNCTIONS - *============================================================================*/ - -void attachServo(byte pin, int minPulse, int maxPulse) -{ - if (servoCount < MAX_SERVOS) { - // reuse indexes of detached servos until all have been reallocated - if (detachedServoCount > 0) { - servoPinMap[pin] = detachedServos[detachedServoCount - 1]; - if (detachedServoCount > 0) detachedServoCount--; - } else { - servoPinMap[pin] = servoCount; - servoCount++; - } - if (minPulse > 0 && maxPulse > 0) { - servos[servoPinMap[pin]].attach(PIN_TO_DIGITAL(pin), minPulse, maxPulse); - } else { - servos[servoPinMap[pin]].attach(PIN_TO_DIGITAL(pin)); - } - } else { - Firmata.sendString("Max servos attached"); - } -} - -void detachServo(byte pin) -{ - servos[servoPinMap[pin]].detach(); - // if we're detaching the last servo, decrement the count - // otherwise store the index of the detached servo - if (servoPinMap[pin] == servoCount && servoCount > 0) { - servoCount--; - } else if (servoCount > 0) { - // keep track of detached servos because we want to reuse their indexes - // before incrementing the count of attached servos - detachedServoCount++; - detachedServos[detachedServoCount - 1] = servoPinMap[pin]; - } - - servoPinMap[pin] = 255; -} - -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, PIN_MODE_I2C); - } - } - - isI2CEnabled = true; - - 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; -} - -void readAndReportData(byte address, int theRegister, byte numBytes, byte stopTX) { - // 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 != I2C_REGISTER_NOT_SPECIFIED) { - Wire.beginTransmission(address); - wireWrite((byte)theRegister); - Wire.endTransmission(stopTX); // default = true - // do not set a value of 0 - if (i2cReadDelayTime > 0) { - // delay is necessary for some devices such as WiiNunchuck - delayMicroseconds(i2cReadDelayTime); - } - } 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()) { - Firmata.sendString("I2C: Too many bytes received"); - } else if (numBytes > Wire.available()) { - Firmata.sendString("I2C: Too few bytes received"); - numBytes = Wire.available(); - } - - i2cRxData[0] = address; - i2cRxData[1] = theRegister; - - for (int i = 0; i < numBytes && Wire.available(); i++) { - i2cRxData[2 + i] = wireRead(); - } - - // 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 (Firmata.getPinMode(pin) == PIN_MODE_IGNORE) - return; - - if (Firmata.getPinMode(pin) == PIN_MODE_I2C && isI2CEnabled && mode != PIN_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_DIGITAL(pin) && mode != PIN_MODE_SERVO) { - if (servoPinMap[pin] < MAX_SERVOS && servos[servoPinMap[pin]].attached()) { - detachServo(pin); - } - } - if (IS_PIN_ANALOG(pin)) { - reportAnalogCallback(PIN_TO_ANALOG(pin), mode == PIN_MODE_ANALOG ? 1 : 0); // turn on/off reporting - } - if (IS_PIN_DIGITAL(pin)) { - if (mode == INPUT || mode == PIN_MODE_PULLUP) { - portConfigInputs[pin / 8] |= (1 << (pin & 7)); - } else { - portConfigInputs[pin / 8] &= ~(1 << (pin & 7)); - } - } - Firmata.setPinState(pin, 0); - switch (mode) { - case PIN_MODE_ANALOG: - if (IS_PIN_ANALOG(pin)) { - if (IS_PIN_DIGITAL(pin)) { - pinMode(PIN_TO_DIGITAL(pin), INPUT); // disable output driver -#if ARDUINO <= 100 - // deprecated since Arduino 1.0.1 - TODO: drop support in Firmata 2.6 - digitalWrite(PIN_TO_DIGITAL(pin), LOW); // disable internal pull-ups -#endif - } - Firmata.setPinMode(pin, PIN_MODE_ANALOG); - } - break; - case INPUT: - if (IS_PIN_DIGITAL(pin)) { - pinMode(PIN_TO_DIGITAL(pin), INPUT); // disable output driver -#if ARDUINO <= 100 - // deprecated since Arduino 1.0.1 - TODO: drop support in Firmata 2.6 - digitalWrite(PIN_TO_DIGITAL(pin), LOW); // disable internal pull-ups -#endif - Firmata.setPinMode(pin, INPUT); - } - break; - case PIN_MODE_PULLUP: - if (IS_PIN_DIGITAL(pin)) { - pinMode(PIN_TO_DIGITAL(pin), INPUT_PULLUP); - Firmata.setPinMode(pin, PIN_MODE_PULLUP); - Firmata.setPinState(pin, 1); - } - break; - case OUTPUT: - if (IS_PIN_DIGITAL(pin)) { - if (Firmata.getPinMode(pin) == PIN_MODE_PWM) { - // Disable PWM if pin mode was previously set to PWM. - digitalWrite(PIN_TO_DIGITAL(pin), LOW); - } - pinMode(PIN_TO_DIGITAL(pin), OUTPUT); - Firmata.setPinMode(pin, OUTPUT); - } - break; - case PIN_MODE_PWM: - if (IS_PIN_PWM(pin)) { - pinMode(PIN_TO_PWM(pin), OUTPUT); - analogWrite(PIN_TO_PWM(pin), 0); - Firmata.setPinMode(pin, PIN_MODE_PWM); - } - break; - case PIN_MODE_SERVO: - if (IS_PIN_DIGITAL(pin)) { - Firmata.setPinMode(pin, PIN_MODE_SERVO); - if (servoPinMap[pin] == 255 || !servos[servoPinMap[pin]].attached()) { - // pass -1 for min and max pulse values to use default values set - // by Servo library - attachServo(pin, -1, -1); - } - } - break; - case PIN_MODE_I2C: - if (IS_PIN_I2C(pin)) { - // mark the pin as i2c - // the user must call I2C_CONFIG to enable I2C for a device - Firmata.setPinMode(pin, PIN_MODE_I2C); - } - break; - case PIN_MODE_SERIAL: -#ifdef FIRMATA_SERIAL_FEATURE - serialFeature.handlePinMode(pin, PIN_MODE_SERIAL); -#endif - break; - default: - Firmata.sendString("Unknown pin mode"); // TODO: put error msgs in EEPROM - } - // TODO: save status to EEPROM here, if changed -} - -/* - * Sets the value of an individual pin. Useful if you want to set a pin value but - * are not tracking the digital port state. - * Can only be used on pins configured as OUTPUT. - * Cannot be used to enable pull-ups on Digital INPUT pins. - */ -void setPinValueCallback(byte pin, int value) -{ - if (pin < TOTAL_PINS && IS_PIN_DIGITAL(pin)) { - if (Firmata.getPinMode(pin) == OUTPUT) { - Firmata.setPinState(pin, value); - digitalWrite(PIN_TO_DIGITAL(pin), value); - } - } -} - -void analogWriteCallback(byte pin, int value) -{ - if (pin < TOTAL_PINS) { - switch (Firmata.getPinMode(pin)) { - case PIN_MODE_SERVO: - if (IS_PIN_DIGITAL(pin)) - servos[servoPinMap[pin]].write(value); - Firmata.setPinState(pin, value); - break; - case PIN_MODE_PWM: - if (IS_PIN_PWM(pin)) - analogWrite(PIN_TO_PWM(pin), value); - Firmata.setPinState(pin, value); - break; - } - } -} - -void digitalWriteCallback(byte port, int value) -{ - byte pin, lastPin, pinValue, 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)) { - // do not touch pins in PWM, ANALOG, SERVO or other modes - if (Firmata.getPinMode(pin) == OUTPUT || Firmata.getPinMode(pin) == INPUT) { - pinValue = ((byte)value & mask) ? 1 : 0; - if (Firmata.getPinMode(pin) == OUTPUT) { - pinWriteMask |= mask; - } else if (Firmata.getPinMode(pin) == INPUT && pinValue == 1 && Firmata.getPinState(pin) != 1) { - // only handle INPUT here for backwards compatibility -#if ARDUINO > 100 - pinMode(pin, INPUT_PULLUP); -#else - // only write to the INPUT pin to enable pullups if Arduino v1.0.0 or earlier - pinWriteMask |= mask; -#endif - } - Firmata.setPinState(pin, pinValue); - } - } - 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); - // prevent during system reset or all analog pin values will be reported - // which may report noise for unconnected analog pins - if (!isResetting) { - // Send pin value immediately. This is helpful when connected via - // ethernet, wi-fi or bluetooth so pin states can be known upon - // reconnecting. - Firmata.sendAnalog(analogPin, analogRead(analogPin)); - } - } - } - // TODO: save status to EEPROM here, if changed -} - -void reportDigitalCallback(byte port, int value) -{ - if (port < TOTAL_PORTS) { - reportPINs[port] = (byte)value; - // Send port value immediately. This is helpful when connected via - // ethernet, wi-fi or bluetooth so pin states can be known upon - // reconnecting. - if (value) outputPort(port, readPort(port, portConfigInputs[port]), true); - } - // 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 stopTX; - byte slaveAddress; - byte data; - int slaveRegister; - 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 not supported"); - return; - } - else { - slaveAddress = argv[0]; - } - - // need to invert the logic here since 0 will be default for client - // libraries that have not updated to add support for restart tx - if (argv[1] & I2C_END_TX_MASK) { - stopTX = I2C_RESTART_TX; - } - else { - stopTX = I2C_STOP_TX; // default - } - - switch (mode) { - case I2C_WRITE: - Wire.beginTransmission(slaveAddress); - for (byte i = 2; i < argc; i += 2) { - data = argv[i] + (argv[i + 1] << 7); - wireWrite(data); - } - 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 - } - else { - // a slave register is NOT specified - slaveRegister = I2C_REGISTER_NOT_SPECIFIED; - data = argv[2] + (argv[3] << 7); // bytes to read - } - readAndReportData(slaveAddress, (int)slaveRegister, data, stopTX); - break; - case I2C_READ_CONTINUOUSLY: - if ((queryIndex + 1) >= I2C_MAX_QUERIES) { - // too many queries, just ignore - Firmata.sendString("too many queries"); - break; - } - if (argc == 6) { - // a slave register is specified - slaveRegister = argv[2] + (argv[3] << 7); - data = argv[4] + (argv[5] << 7); // bytes to read - } - else { - // a slave register is NOT specified - slaveRegister = (int)I2C_REGISTER_NOT_SPECIFIED; - data = argv[2] + (argv[3] << 7); // bytes to read - } - queryIndex++; - query[queryIndex].addr = slaveAddress; - query[queryIndex].reg = slaveRegister; - query[queryIndex].bytes = data; - query[queryIndex].stopTX = stopTX; - 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 { - queryIndexToSkip = 0; - // 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 < I2C_MAX_QUERIES) { - query[i].addr = query[i + 1].addr; - query[i].reg = query[i + 1].reg; - query[i].bytes = query[i + 1].bytes; - query[i].stopTX = query[i + 1].stopTX; - } - } - queryIndex--; - } - break; - default: - break; - } - break; - case I2C_CONFIG: - delayTime = (argv[0] + (argv[1] << 7)); - - if (argc > 1 && 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_DIGITAL(pin)) { - if (servoPinMap[pin] < MAX_SERVOS && servos[servoPinMap[pin]].attached()) { - detachServo(pin); - } - attachServo(pin, minPulse, maxPulse); - setPinModeCallback(pin, PIN_MODE_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: - Firmata.write(START_SYSEX); - Firmata.write(CAPABILITY_RESPONSE); - for (byte pin = 0; pin < TOTAL_PINS; pin++) { - if (IS_PIN_DIGITAL(pin)) { - Firmata.write((byte)INPUT); - Firmata.write(1); - Firmata.write((byte)PIN_MODE_PULLUP); - Firmata.write(1); - Firmata.write((byte)OUTPUT); - Firmata.write(1); - } - if (IS_PIN_ANALOG(pin)) { - Firmata.write(PIN_MODE_ANALOG); - Firmata.write(10); // 10 = 10-bit resolution - } - if (IS_PIN_PWM(pin)) { - Firmata.write(PIN_MODE_PWM); - Firmata.write(DEFAULT_PWM_RESOLUTION); - } - if (IS_PIN_DIGITAL(pin)) { - Firmata.write(PIN_MODE_SERVO); - Firmata.write(14); - } - if (IS_PIN_I2C(pin)) { - Firmata.write(PIN_MODE_I2C); - Firmata.write(1); // TODO: could assign a number to map to SCL or SDA - } -#ifdef FIRMATA_SERIAL_FEATURE - serialFeature.handleCapability(pin); -#endif - Firmata.write(127); - } - Firmata.write(END_SYSEX); - break; - case PIN_STATE_QUERY: - if (argc > 0) { - byte pin = argv[0]; - Firmata.write(START_SYSEX); - Firmata.write(PIN_STATE_RESPONSE); - Firmata.write(pin); - if (pin < TOTAL_PINS) { - Firmata.write(Firmata.getPinMode(pin)); - Firmata.write((byte)Firmata.getPinState(pin) & 0x7F); - if (Firmata.getPinState(pin) & 0xFF80) Firmata.write((byte)(Firmata.getPinState(pin) >> 7) & 0x7F); - if (Firmata.getPinState(pin) & 0xC000) Firmata.write((byte)(Firmata.getPinState(pin) >> 14) & 0x7F); - } - Firmata.write(END_SYSEX); - } - break; - case ANALOG_MAPPING_QUERY: - Firmata.write(START_SYSEX); - Firmata.write(ANALOG_MAPPING_RESPONSE); - for (byte pin = 0; pin < TOTAL_PINS; pin++) { - Firmata.write(IS_PIN_ANALOG(pin) ? PIN_TO_ANALOG(pin) : 127); - } - Firmata.write(END_SYSEX); - break; - - case SERIAL_MESSAGE: -#ifdef FIRMATA_SERIAL_FEATURE - serialFeature.handleSysex(command, argc, argv); -#endif - break; - } -} - -/*============================================================================== - * SETUP() - *============================================================================*/ - -void systemResetCallback() -{ - isResetting = true; - - // initialize a defalt state - // TODO: option to load config from EEPROM instead of default - -#ifdef FIRMATA_SERIAL_FEATURE - serialFeature.reset(); -#endif - - if (isI2CEnabled) { - disableI2CPins(); - } - - for (byte i = 0; i < TOTAL_PORTS; i++) { - reportPINs[i] = false; // by default, reporting off - portConfigInputs[i] = 0; // until activated - previousPINs[i] = 0; - } - - for (byte i = 0; i < TOTAL_PINS; i++) { - // pins with analog capability default to analog input - // otherwise, pins default to digital output - if (IS_PIN_ANALOG(i)) { - // turns off pullup, configures everything - setPinModeCallback(i, PIN_MODE_ANALOG); - } else if (IS_PIN_DIGITAL(i)) { - // sets the output to 0, configures portConfigInputs - setPinModeCallback(i, OUTPUT); - } - - servoPinMap[i] = 255; - } - // by default, do not report any analog inputs - analogInputsToReport = 0; - - detachedServoCount = 0; - servoCount = 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); - } - */ - isResetting = false; -} - void setup() { - Firmata.setFirmwareVersion(FIRMATA_FIRMWARE_MAJOR_VERSION, FIRMATA_FIRMWARE_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(SET_DIGITAL_PIN_VALUE, setPinValueCallback); - Firmata.attach(START_SYSEX, sysexCallback); - Firmata.attach(SYSTEM_RESET, systemResetCallback); - + initFirmataCommonBegin(); + // Save a couple of seconds by disabling the startup blink sequence. Firmata.disableBlinkVersion(); @@ -805,7 +70,7 @@ void setup() ; // wait for serial port to connect. Needed for ATmega32u4-based boards and Arduino 101 } - systemResetCallback(); // reset to default config + initFirmataCommonEnd(); } /*============================================================================== @@ -813,40 +78,5 @@ void setup() *============================================================================*/ void loop() { - byte pin, analogPin; - - /* DIGITALREAD - as fast as possible, check for changes and output them to the - * FTDI buffer using Serial.print() */ - checkDigitalInputs(); - - /* STREAMREAD - processing incoming messagse as soon as possible, while still - * checking digital inputs. */ - while (Firmata.available()) - Firmata.processInput(); - - // TODO - ensure that Stream buffer doesn't go over 60 bytes - - 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) && Firmata.getPinMode(pin) == PIN_MODE_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, query[i].stopTX); - } - } - } - -#ifdef FIRMATA_SERIAL_FEATURE - serialFeature.update(); -#endif + loopFirmataCommon(); } diff --git a/examples/StandardFirmataWiFi/StandardFirmataWiFi.ino b/examples/StandardFirmataWiFi/StandardFirmataWiFi.ino index 98b33587..17d32393 100644 --- a/examples/StandardFirmataWiFi/StandardFirmataWiFi.ino +++ b/examples/StandardFirmataWiFi/StandardFirmataWiFi.ino @@ -25,6 +25,10 @@ Last updated August 17th, 2017 */ +#include +#include +#include "utility/ExampleStandardFirmataCommon.h" + /* README @@ -74,10 +78,6 @@ - Arduino Mega: (D5, D7, D10, D50, D52, D53) */ -#include -#include -#include - /* * Uncomment the #define SERIAL_DEBUG line below to receive serial output messages relating to your * connection that may help in the event of connection issues. If defined, some boards may not begin @@ -97,31 +97,12 @@ // follow the instructions in wifiConfig.h to configure your particular hardware #include "wifiConfig.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 I2C_END_TX_MASK B01000000 -#define I2C_STOP_TX 1 -#define I2C_RESTART_TX 0 -#define I2C_MAX_QUERIES 8 -#define I2C_REGISTER_NOT_SPECIFIED -1 - -// the minimum interval for sampling analog input -#define MINIMUM_SAMPLING_INTERVAL 1 - #define MAX_CONN_ATTEMPTS 20 // [500 ms] -> 10 s /*============================================================================== * GLOBAL VARIABLES *============================================================================*/ -#ifdef FIRMATA_SERIAL_FEATURE -SerialFirmata serialFeature; -#endif - #ifdef STATIC_IP_ADDRESS IPAddress local_ip(STATIC_IP_ADDRESS); #endif @@ -134,715 +115,12 @@ IPAddress gateway(GATEWAY_IP_ADDRESS); int connectionAttempts = 0; bool streamConnected = false; - -/* 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 portConfigInputs[TOTAL_PORTS]; // each bit: 1 = pin in INPUT, 0 = anything else - -/* timer variables */ -unsigned long currentMillis; // store the current value from millis() -unsigned long previousMillis; // for comparison with currentMillis -unsigned int samplingInterval = 19; // how often to sample analog inputs (in ms) - -/* i2c data */ -struct i2c_device_info { - byte addr; - int reg; - byte bytes; - byte stopTX; -}; - -/* for i2c read continuous mode */ -i2c_device_info query[I2C_MAX_QUERIES]; - -byte i2cRxData[64]; -boolean isI2CEnabled = false; -signed char queryIndex = -1; -// default delay time between i2c read request and Wire.requestFrom() -unsigned int i2cReadDelayTime = 0; - -Servo servos[MAX_SERVOS]; -byte servoPinMap[TOTAL_PINS]; -byte detachedServos[MAX_SERVOS]; -byte detachedServoCount = 0; -byte servoCount = 0; - -boolean isResetting = false; - -// Forward declare a few functions to avoid compiler errors with older versions -// of the Arduino IDE. -void setPinModeCallback(byte, int); -void reportAnalogCallback(byte analogPin, int value); -void sysexCallback(byte, byte, byte*); - -/* utility functions */ -void wireWrite(byte data) -{ -#if ARDUINO >= 100 - Wire.write((byte)data); -#else - Wire.send(data); -#endif -} - -byte wireRead(void) -{ -#if ARDUINO >= 100 - return Wire.read(); -#else - return Wire.receive(); -#endif -} - -/*============================================================================== - * FUNCTIONS - *============================================================================*/ - -void attachServo(byte pin, int minPulse, int maxPulse) -{ - if (servoCount < MAX_SERVOS) { - // reuse indexes of detached servos until all have been reallocated - if (detachedServoCount > 0) { - servoPinMap[pin] = detachedServos[detachedServoCount - 1]; - if (detachedServoCount > 0) detachedServoCount--; - } else { - servoPinMap[pin] = servoCount; - servoCount++; - } - if (minPulse > 0 && maxPulse > 0) { - servos[servoPinMap[pin]].attach(PIN_TO_DIGITAL(pin), minPulse, maxPulse); - } else { - servos[servoPinMap[pin]].attach(PIN_TO_DIGITAL(pin)); - } - } else { - Firmata.sendString("Max servos attached"); - } -} - -void detachServo(byte pin) -{ - servos[servoPinMap[pin]].detach(); - // if we're detaching the last servo, decrement the count - // otherwise store the index of the detached servo - if (servoPinMap[pin] == servoCount && servoCount > 0) { - servoCount--; - } else if (servoCount > 0) { - // keep track of detached servos because we want to reuse their indexes - // before incrementing the count of attached servos - detachedServoCount++; - detachedServos[detachedServoCount - 1] = servoPinMap[pin]; - } - - servoPinMap[pin] = 255; -} - -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, PIN_MODE_I2C); - } - } - - isI2CEnabled = true; - - 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; -} - -void readAndReportData(byte address, int theRegister, byte numBytes, byte stopTX) { - // 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 != I2C_REGISTER_NOT_SPECIFIED) { - Wire.beginTransmission(address); - wireWrite((byte)theRegister); - Wire.endTransmission(stopTX); // default = true - // do not set a value of 0 - if (i2cReadDelayTime > 0) { - // delay is necessary for some devices such as WiiNunchuck - delayMicroseconds(i2cReadDelayTime); - } - } 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()) { - Firmata.sendString("I2C: Too many bytes received"); - } else if (numBytes > Wire.available()) { - Firmata.sendString("I2C: Too few bytes received"); - numBytes = Wire.available(); - } - - i2cRxData[0] = address; - i2cRxData[1] = theRegister; - - for (int i = 0; i < numBytes && Wire.available(); i++) { - i2cRxData[2 + i] = wireRead(); - } - - // 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 Stream output queue using Stream.write() */ -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); -} - // ----------------------------------------------------------------------------- // function forward declarations for xtensa compiler (ESP8266) void enableI2CPins(); void disableI2CPins(); void reportAnalogCallback(byte analogPin, int value); -// ----------------------------------------------------------------------------- -/* 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 (Firmata.getPinMode(pin) == PIN_MODE_IGNORE) - return; - - if (Firmata.getPinMode(pin) == PIN_MODE_I2C && isI2CEnabled && mode != PIN_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_DIGITAL(pin) && mode != PIN_MODE_SERVO) { - if (servoPinMap[pin] < MAX_SERVOS && servos[servoPinMap[pin]].attached()) { - detachServo(pin); - } - } - if (IS_PIN_ANALOG(pin)) { - reportAnalogCallback(PIN_TO_ANALOG(pin), mode == PIN_MODE_ANALOG ? 1 : 0); // turn on/off reporting - } - if (IS_PIN_DIGITAL(pin)) { - if (mode == INPUT || mode == PIN_MODE_PULLUP) { - portConfigInputs[pin / 8] |= (1 << (pin & 7)); - } else { - portConfigInputs[pin / 8] &= ~(1 << (pin & 7)); - } - } - Firmata.setPinState(pin, 0); - switch (mode) { - case PIN_MODE_ANALOG: - if (IS_PIN_ANALOG(pin)) { - if (IS_PIN_DIGITAL(pin)) { - pinMode(PIN_TO_DIGITAL(pin), INPUT); // disable output driver -#if ARDUINO <= 100 - // deprecated since Arduino 1.0.1 - TODO: drop support in Firmata 2.6 - digitalWrite(PIN_TO_DIGITAL(pin), LOW); // disable internal pull-ups -#endif - } - Firmata.setPinMode(pin, PIN_MODE_ANALOG); - } - break; - case INPUT: - if (IS_PIN_DIGITAL(pin)) { - pinMode(PIN_TO_DIGITAL(pin), INPUT); // disable output driver -#if ARDUINO <= 100 - // deprecated since Arduino 1.0.1 - TODO: drop support in Firmata 2.6 - digitalWrite(PIN_TO_DIGITAL(pin), LOW); // disable internal pull-ups -#endif - Firmata.setPinMode(pin, INPUT); - } - break; - case PIN_MODE_PULLUP: - if (IS_PIN_DIGITAL(pin)) { - pinMode(PIN_TO_DIGITAL(pin), INPUT_PULLUP); - Firmata.setPinMode(pin, PIN_MODE_PULLUP); - Firmata.setPinState(pin, 1); - } - break; - case OUTPUT: - if (IS_PIN_DIGITAL(pin)) { - if (Firmata.getPinMode(pin) == PIN_MODE_PWM) { - // Disable PWM if pin mode was previously set to PWM. - digitalWrite(PIN_TO_DIGITAL(pin), LOW); - } - pinMode(PIN_TO_DIGITAL(pin), OUTPUT); - Firmata.setPinMode(pin, OUTPUT); - } - break; - case PIN_MODE_PWM: - if (IS_PIN_PWM(pin)) { - pinMode(PIN_TO_PWM(pin), OUTPUT); - analogWrite(PIN_TO_PWM(pin), 0); - Firmata.setPinMode(pin, PIN_MODE_PWM); - } - break; - case PIN_MODE_SERVO: - if (IS_PIN_DIGITAL(pin)) { - Firmata.setPinMode(pin, PIN_MODE_SERVO); - if (servoPinMap[pin] == 255 || !servos[servoPinMap[pin]].attached()) { - // pass -1 for min and max pulse values to use default values set - // by Servo library - attachServo(pin, -1, -1); - } - } - break; - case PIN_MODE_I2C: - if (IS_PIN_I2C(pin)) { - // mark the pin as i2c - // the user must call I2C_CONFIG to enable I2C for a device - Firmata.setPinMode(pin, PIN_MODE_I2C); - } - break; - case PIN_MODE_SERIAL: -#ifdef FIRMATA_SERIAL_FEATURE - serialFeature.handlePinMode(pin, PIN_MODE_SERIAL); -#endif - break; - default: - Firmata.sendString("Unknown pin mode"); // TODO: put error msgs in EEPROM - } - // TODO: save status to EEPROM here, if changed -} - -/* - * Sets the value of an individual pin. Useful if you want to set a pin value but - * are not tracking the digital port state. - * Can only be used on pins configured as OUTPUT. - * Cannot be used to enable pull-ups on Digital INPUT pins. - */ -void setPinValueCallback(byte pin, int value) -{ - if (pin < TOTAL_PINS && IS_PIN_DIGITAL(pin)) { - if (Firmata.getPinMode(pin) == OUTPUT) { - Firmata.setPinState(pin, value); - digitalWrite(PIN_TO_DIGITAL(pin), value); - } - } -} - -void analogWriteCallback(byte pin, int value) -{ - if (pin < TOTAL_PINS) { - switch (Firmata.getPinMode(pin)) { - case PIN_MODE_SERVO: - if (IS_PIN_DIGITAL(pin)) - servos[servoPinMap[pin]].write(value); - Firmata.setPinState(pin, value); - break; - case PIN_MODE_PWM: - if (IS_PIN_PWM(pin)) - analogWrite(PIN_TO_PWM(pin), value); - Firmata.setPinState(pin, value); - break; - } - } -} - -void digitalWriteCallback(byte port, int value) -{ - byte pin, lastPin, pinValue, 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)) { - // do not touch pins in PWM, ANALOG, SERVO or other modes - if (Firmata.getPinMode(pin) == OUTPUT || Firmata.getPinMode(pin) == INPUT) { - pinValue = ((byte)value & mask) ? 1 : 0; - if (Firmata.getPinMode(pin) == OUTPUT) { - pinWriteMask |= mask; - } else if (Firmata.getPinMode(pin) == INPUT && pinValue == 1 && Firmata.getPinState(pin) != 1) { - // only handle INPUT here for backwards compatibility -#if ARDUINO > 100 - pinMode(pin, INPUT_PULLUP); -#else - // only write to the INPUT pin to enable pullups if Arduino v1.0.0 or earlier - pinWriteMask |= mask; -#endif - } - Firmata.setPinState(pin, pinValue); - } - } - 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); - // prevent during system reset or all analog pin values will be reported - // which may report noise for unconnected analog pins - if (!isResetting) { - // Send pin value immediately. This is helpful when connected via - // ethernet, wi-fi or bluetooth so pin states can be known upon - // reconnecting. - Firmata.sendAnalog(analogPin, analogRead(analogPin)); - } - } - } - // TODO: save status to EEPROM here, if changed -} - -void reportDigitalCallback(byte port, int value) -{ - if (port < TOTAL_PORTS) { - reportPINs[port] = (byte)value; - // Send port value immediately. This is helpful when connected via - // ethernet, wi-fi or bluetooth so pin states can be known upon - // reconnecting. - if (value) outputPort(port, readPort(port, portConfigInputs[port]), true); - } - // 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 stopTX; - byte slaveAddress; - byte data; - int slaveRegister; - 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 not supported"); - return; - } - else { - slaveAddress = argv[0]; - } - - // need to invert the logic here since 0 will be default for client - // libraries that have not updated to add support for restart tx - if (argv[1] & I2C_END_TX_MASK) { - stopTX = I2C_RESTART_TX; - } - else { - stopTX = I2C_STOP_TX; // default - } - - switch (mode) { - case I2C_WRITE: - Wire.beginTransmission(slaveAddress); - for (byte i = 2; i < argc; i += 2) { - data = argv[i] + (argv[i + 1] << 7); - wireWrite(data); - } - 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 - } - else { - // a slave register is NOT specified - slaveRegister = I2C_REGISTER_NOT_SPECIFIED; - data = argv[2] + (argv[3] << 7); // bytes to read - } - readAndReportData(slaveAddress, (int)slaveRegister, data, stopTX); - break; - case I2C_READ_CONTINUOUSLY: - if ((queryIndex + 1) >= I2C_MAX_QUERIES) { - // too many queries, just ignore - Firmata.sendString("too many queries"); - break; - } - if (argc == 6) { - // a slave register is specified - slaveRegister = argv[2] + (argv[3] << 7); - data = argv[4] + (argv[5] << 7); // bytes to read - } - else { - // a slave register is NOT specified - slaveRegister = (int)I2C_REGISTER_NOT_SPECIFIED; - data = argv[2] + (argv[3] << 7); // bytes to read - } - queryIndex++; - query[queryIndex].addr = slaveAddress; - query[queryIndex].reg = slaveRegister; - query[queryIndex].bytes = data; - query[queryIndex].stopTX = stopTX; - 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 { - queryIndexToSkip = 0; - // 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 < I2C_MAX_QUERIES) { - query[i].addr = query[i + 1].addr; - query[i].reg = query[i + 1].reg; - query[i].bytes = query[i + 1].bytes; - query[i].stopTX = query[i + 1].stopTX; - } - } - queryIndex--; - } - break; - default: - break; - } - break; - case I2C_CONFIG: - delayTime = (argv[0] + (argv[1] << 7)); - - if (argc > 1 && 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_DIGITAL(pin)) { - if (servoPinMap[pin] < MAX_SERVOS && servos[servoPinMap[pin]].attached()) { - detachServo(pin); - } - attachServo(pin, minPulse, maxPulse); - setPinModeCallback(pin, PIN_MODE_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: - Firmata.write(START_SYSEX); - Firmata.write(CAPABILITY_RESPONSE); - for (byte pin = 0; pin < TOTAL_PINS; pin++) { - if (IS_PIN_DIGITAL(pin)) { - Firmata.write((byte)INPUT); - Firmata.write(1); - Firmata.write((byte)PIN_MODE_PULLUP); - Firmata.write(1); - Firmata.write((byte)OUTPUT); - Firmata.write(1); - } - if (IS_PIN_ANALOG(pin)) { - Firmata.write(PIN_MODE_ANALOG); - Firmata.write(10); // 10 = 10-bit resolution - } - if (IS_PIN_PWM(pin)) { - Firmata.write(PIN_MODE_PWM); - Firmata.write(DEFAULT_PWM_RESOLUTION); - } - if (IS_PIN_DIGITAL(pin)) { - Firmata.write(PIN_MODE_SERVO); - Firmata.write(14); - } - if (IS_PIN_I2C(pin)) { - Firmata.write(PIN_MODE_I2C); - Firmata.write(1); // TODO: could assign a number to map to SCL or SDA - } -#ifdef FIRMATA_SERIAL_FEATURE - serialFeature.handleCapability(pin); -#endif - Firmata.write(127); - } - Firmata.write(END_SYSEX); - break; - case PIN_STATE_QUERY: - if (argc > 0) { - byte pin = argv[0]; - Firmata.write(START_SYSEX); - Firmata.write(PIN_STATE_RESPONSE); - Firmata.write(pin); - if (pin < TOTAL_PINS) { - Firmata.write(Firmata.getPinMode(pin)); - Firmata.write((byte)Firmata.getPinState(pin) & 0x7F); - if (Firmata.getPinState(pin) & 0xFF80) Firmata.write((byte)(Firmata.getPinState(pin) >> 7) & 0x7F); - if (Firmata.getPinState(pin) & 0xC000) Firmata.write((byte)(Firmata.getPinState(pin) >> 14) & 0x7F); - } - Firmata.write(END_SYSEX); - } - break; - case ANALOG_MAPPING_QUERY: - Firmata.write(START_SYSEX); - Firmata.write(ANALOG_MAPPING_RESPONSE); - for (byte pin = 0; pin < TOTAL_PINS; pin++) { - Firmata.write(IS_PIN_ANALOG(pin) ? PIN_TO_ANALOG(pin) : 127); - } - Firmata.write(END_SYSEX); - break; - - case SERIAL_MESSAGE: -#ifdef FIRMATA_SERIAL_FEATURE - serialFeature.handleSysex(command, argc, argv); -#endif - break; - } -} - -/*============================================================================== - * SETUP() - *============================================================================*/ - -void systemResetCallback() -{ - isResetting = true; - - // initialize a defalt state - // TODO: option to load config from EEPROM instead of default - -#ifdef FIRMATA_SERIAL_FEATURE - serialFeature.reset(); -#endif - - if (isI2CEnabled) { - disableI2CPins(); - } - - for (byte i = 0; i < TOTAL_PORTS; i++) { - reportPINs[i] = false; // by default, reporting off - portConfigInputs[i] = 0; // until activated - previousPINs[i] = 0; - } - - for (byte i = 0; i < TOTAL_PINS; i++) { - // pins with analog capability default to analog input - // otherwise, pins default to digital output - if (IS_PIN_ANALOG(i)) { - // turns off pullup, configures everything - setPinModeCallback(i, PIN_MODE_ANALOG); - } else if (IS_PIN_DIGITAL(i)) { - // sets the output to 0, configures portConfigInputs - setPinModeCallback(i, OUTPUT); - } - - servoPinMap[i] = 255; - } - // by default, do not report any analog inputs - analogInputsToReport = 0; - - detachedServoCount = 0; - servoCount = 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); - } - */ - isResetting = false; -} - /* * Called when a TCP connection is either connected or disconnected. * TODO: @@ -979,21 +257,14 @@ void initTransport() void initFirmata() { - Firmata.setFirmwareVersion(FIRMATA_FIRMWARE_MAJOR_VERSION, FIRMATA_FIRMWARE_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(SET_DIGITAL_PIN_VALUE, setPinValueCallback); - Firmata.attach(START_SYSEX, sysexCallback); - Firmata.attach(SYSTEM_RESET, systemResetCallback); + initFirmataCommonBegin(); ignorePins(); // Initialize Firmata to use the WiFi stream object as the transport. Firmata.begin(stream); - systemResetCallback(); // reset to default config + + initFirmataCommonEnd(); } void setup() @@ -1010,43 +281,6 @@ void setup() *============================================================================*/ void loop() { - byte pin, analogPin; - - /* DIGITALREAD - as fast as possible, check for changes and output them to the - * Stream buffer using Stream.write() */ - checkDigitalInputs(); - - /* STREAMREAD - processing incoming messagse as soon as possible, while still - * checking digital inputs. */ - while (Firmata.available()) { - Firmata.processInput(); - } - - // TODO - ensure that Stream buffer doesn't go over 60 bytes - - 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) && Firmata.getPinMode(pin) == PIN_MODE_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, query[i].stopTX); - } - } - } - -#ifdef FIRMATA_SERIAL_FEATURE - serialFeature.update(); -#endif - + loopFirmataCommon(); stream.maintain(); } diff --git a/utility/ExampleStandardFirmataCommon.h b/utility/ExampleStandardFirmataCommon.h new file mode 100644 index 00000000..ed01e0b8 --- /dev/null +++ b/utility/ExampleStandardFirmataCommon.h @@ -0,0 +1,827 @@ +/* + 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 click on the following link + to open the list of Firmata client libraries in your default browser. + + https://github.com/firmata/arduino#firmata-client-libraries + + 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) 2009-2017 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. + + Last updated August 17th, 2017 +*/ + +#include + +#ifndef SERVO +#define SERVO Servo +#endif + +#ifndef ANALOGWRITE +#define ANALOGWRITE_PIN_MODE_PWM analogWrite +#endif + +#define I2C_WRITE 0x00 //B00000000 +#define I2C_READ 0x08 //B00001000 +#define I2C_READ_CONTINUOUSLY 0x10 //B00010000 +#define I2C_STOP_READING 0x18 //B00011000 +#define I2C_READ_WRITE_MODE_MASK 0x18 //B00011000 +#define I2C_10BIT_ADDRESS_MODE_MASK 0x20 //B00100000 +#define I2C_END_TX_MASK 0x40 //B01000000 +#define I2C_STOP_TX 1 +#define I2C_RESTART_TX 0 +#define I2C_MAX_QUERIES 8 +#define I2C_REGISTER_NOT_SPECIFIED -1 + +// the minimum interval for sampling analog input +#define MINIMUM_SAMPLING_INTERVAL 1 + +/*============================================================================== + * GLOBAL VARIABLES + *============================================================================*/ + +#ifdef FIRMATA_SERIAL_FEATURE +SerialFirmata serialFeature; +#endif + +/* 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 portConfigInputs[TOTAL_PORTS]; // each bit: 1 = pin in INPUT, 0 = anything else + +/* timer variables */ +unsigned long currentMillis; // store the current value from millis() +unsigned long previousMillis; // for comparison with currentMillis +unsigned int samplingInterval = 19; // how often to run the main loop (in ms) + +/* i2c data */ +struct i2c_device_info { + byte addr; + int reg; + byte bytes; + byte stopTX; +}; + +/* for i2c read continuous mode */ +i2c_device_info query[I2C_MAX_QUERIES]; + +byte i2cRxData[64]; +boolean isI2CEnabled = false; +signed char queryIndex = -1; +// default delay time between i2c read request and Wire.requestFrom() +unsigned int i2cReadDelayTime = 0; + +Servo servos[MAX_SERVOS]; +byte servoPinMap[TOTAL_PINS]; +byte detachedServos[MAX_SERVOS]; +byte detachedServoCount = 0; +byte servoCount = 0; + +boolean isResetting = false; + +// Forward declare a few functions to avoid compiler errors with older versions +// of the Arduino IDE. +void setPinModeCallback(byte, int); +void reportAnalogCallback(byte analogPin, int value); +void sysexCallback(byte, byte, byte*); + +/* utility functions */ +void wireWrite(byte data) +{ +#if ARDUINO >= 100 + Wire.write((byte)data); +#else + Wire.send(data); +#endif +} + +byte wireRead(void) +{ +#if ARDUINO >= 100 + return Wire.read(); +#else + return Wire.receive(); +#endif +} + +/*============================================================================== + * FUNCTIONS + *============================================================================*/ + +void attachServo(byte pin, int minPulse, int maxPulse) +{ + if (servoCount < MAX_SERVOS) { + // reuse indexes of detached servos until all have been reallocated + if (detachedServoCount > 0) { + servoPinMap[pin] = detachedServos[detachedServoCount - 1]; + if (detachedServoCount > 0) detachedServoCount--; + } else { + servoPinMap[pin] = servoCount; + servoCount++; + } + if (minPulse > 0 && maxPulse > 0) { + servos[servoPinMap[pin]].attach(PIN_TO_DIGITAL(pin), minPulse, maxPulse); + } else { + servos[servoPinMap[pin]].attach(PIN_TO_DIGITAL(pin)); + } + } else { + Firmata.sendString("Max servos attached"); + } +} + +void detachServo(byte pin) +{ + servos[servoPinMap[pin]].detach(); + // if we're detaching the last servo, decrement the count + // otherwise store the index of the detached servo + if (servoPinMap[pin] == servoCount && servoCount > 0) { + servoCount--; + } else if (servoCount > 0) { + // keep track of detached servos because we want to reuse their indexes + // before incrementing the count of attached servos + detachedServoCount++; + detachedServos[detachedServoCount - 1] = servoPinMap[pin]; + } + + servoPinMap[pin] = 255; +} + +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, PIN_MODE_I2C); + } + } + + isI2CEnabled = true; + + 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; +} + +void readAndReportData(byte address, int theRegister, byte numBytes, byte stopTX) { + // 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 != I2C_REGISTER_NOT_SPECIFIED) { + Wire.beginTransmission(address); + wireWrite((byte)theRegister); + Wire.endTransmission(stopTX); // default = true + // do not set a value of 0 + if (i2cReadDelayTime > 0) { + // delay is necessary for some devices such as WiiNunchuck + delayMicroseconds(i2cReadDelayTime); + } + } 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()) { + Firmata.sendString("I2C: Too many bytes received"); + } else if (numBytes > Wire.available()) { + Firmata.sendString("I2C: Too few bytes received"); + numBytes = Wire.available(); + } + + i2cRxData[0] = address; + i2cRxData[1] = theRegister; + + for (int i = 0; i < numBytes && Wire.available(); i++) { + i2cRxData[2 + i] = wireRead(); + } + + // 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 output queue using Stream.write() (Serial is a Stream) */ +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 (Firmata.getPinMode(pin) == PIN_MODE_IGNORE) + return; + + if (Firmata.getPinMode(pin) == PIN_MODE_I2C && isI2CEnabled && mode != PIN_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_DIGITAL(pin) && mode != PIN_MODE_SERVO) { + if (servoPinMap[pin] < MAX_SERVOS && servos[servoPinMap[pin]].attached()) { + detachServo(pin); + } + } + if (IS_PIN_ANALOG(pin)) { + // turn on/off reporting + reportAnalogCallback(PIN_TO_ANALOG(pin), mode == PIN_MODE_ANALOG ? 1 : 0); + } + if (IS_PIN_DIGITAL(pin)) { + if (mode == INPUT || mode == PIN_MODE_PULLUP) { + portConfigInputs[pin / 8] |= (1 << (pin & 7)); + } else { + portConfigInputs[pin / 8] &= ~(1 << (pin & 7)); + } + } + Firmata.setPinState(pin, 0); + switch (mode) { + case PIN_MODE_ANALOG: + if (IS_PIN_ANALOG(pin)) { + if (IS_PIN_DIGITAL(pin)) { + pinMode(PIN_TO_DIGITAL(pin), INPUT); // disable output driver +#if ARDUINO <= 100 + // deprecated since Arduino 1.0.1 - TODO: drop support in Firmata 2.6 + digitalWrite(PIN_TO_DIGITAL(pin), LOW); // disable internal pull-ups +#endif + } + Firmata.setPinMode(pin, PIN_MODE_ANALOG); + } + break; + case INPUT: + if (IS_PIN_DIGITAL(pin)) { + pinMode(PIN_TO_DIGITAL(pin), INPUT); // disable output driver +#if ARDUINO <= 100 + // deprecated since Arduino 1.0.1 - TODO: drop support in Firmata 2.6 + digitalWrite(PIN_TO_DIGITAL(pin), LOW); // disable internal pull-ups +#endif + Firmata.setPinMode(pin, INPUT); + } + break; + case PIN_MODE_PULLUP: + if (IS_PIN_DIGITAL(pin)) { + pinMode(PIN_TO_DIGITAL(pin), INPUT_PULLUP); + Firmata.setPinMode(pin, PIN_MODE_PULLUP); + Firmata.setPinState(pin, 1); + } + break; + case OUTPUT: + if (IS_PIN_DIGITAL(pin)) { + if (Firmata.getPinMode(pin) == PIN_MODE_PWM) { + // Disable PWM if pin mode was previously set to PWM. + digitalWrite(PIN_TO_DIGITAL(pin), LOW); + } + pinMode(PIN_TO_DIGITAL(pin), OUTPUT); + Firmata.setPinMode(pin, OUTPUT); + } + break; + case PIN_MODE_PWM: + if (IS_PIN_PWM(pin)) { + pinMode(PIN_TO_PWM(pin), OUTPUT); + ANALOGWRITE_PIN_MODE_PWM(PIN_TO_PWM(pin), 0); + Firmata.setPinMode(pin, PIN_MODE_PWM); + } + break; + case PIN_MODE_SERVO: + if (IS_PIN_DIGITAL(pin)) { + Firmata.setPinMode(pin, PIN_MODE_SERVO); + if (servoPinMap[pin] == 255 || !servos[servoPinMap[pin]].attached()) { + // pass -1 for min and max pulse values to use default values set + // by Servo library + attachServo(pin, -1, -1); + } + } + break; + case PIN_MODE_I2C: + if (IS_PIN_I2C(pin)) { + // mark the pin as i2c + // the user must call I2C_CONFIG to enable I2C for a device + Firmata.setPinMode(pin, PIN_MODE_I2C); + } + break; + case PIN_MODE_SERIAL: +#ifdef FIRMATA_SERIAL_FEATURE + serialFeature.handlePinMode(pin, PIN_MODE_SERIAL); +#endif + break; + default: + Firmata.sendString("Unknown pin mode"); // TODO: put error msgs in EEPROM + } + // TODO: save status to EEPROM here, if changed +} + +/* + * Sets the value of an individual pin. Useful if you want to set a pin value but + * are not tracking the digital port state. + * Can only be used on pins configured as OUTPUT. + * Cannot be used to enable pull-ups on Digital INPUT pins. + */ +void setPinValueCallback(byte pin, int value) +{ + if (pin < TOTAL_PINS && IS_PIN_DIGITAL(pin)) { + if (Firmata.getPinMode(pin) == OUTPUT) { + Firmata.setPinState(pin, value); + digitalWrite(PIN_TO_DIGITAL(pin), value); + } + } +} + +void analogWriteCallback(byte pin, int value) +{ + if (pin < TOTAL_PINS) { + switch (Firmata.getPinMode(pin)) { + case PIN_MODE_SERVO: + if (IS_PIN_DIGITAL(pin)) + servos[servoPinMap[pin]].write(value); + Firmata.setPinState(pin, value); + break; + case PIN_MODE_PWM: + if (IS_PIN_PWM(pin)) + ANALOGWRITE_PIN_MODE_PWM(PIN_TO_PWM(pin), value); + Firmata.setPinState(pin, value); + break; + } + } +} + +void digitalWriteCallback(byte port, int value) +{ + byte pin, lastPin, pinValue, 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)) { + // do not touch pins in PWM, ANALOG, SERVO or other modes + if (Firmata.getPinMode(pin) == OUTPUT || Firmata.getPinMode(pin) == INPUT) { + pinValue = ((byte)value & mask) ? 1 : 0; + if (Firmata.getPinMode(pin) == OUTPUT) { + pinWriteMask |= mask; + } else if (Firmata.getPinMode(pin) == INPUT && pinValue == 1 && Firmata.getPinState(pin) != 1) { + // only handle INPUT here for backwards compatibility +#if ARDUINO > 100 + pinMode(pin, INPUT_PULLUP); +#else + // only write to the INPUT pin to enable pullups if Arduino v1.0.0 or earlier + pinWriteMask |= mask; +#endif + } + Firmata.setPinState(pin, pinValue); + } + } + 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); + // prevent during system reset or all analog pin values will be reported + // which may report noise for unconnected analog pins + if (!isResetting) { + // Send pin value immediately. This is helpful when connected via + // ethernet, wi-fi or bluetooth so pin states can be known upon + // reconnecting. + Firmata.sendAnalog(analogPin, analogRead(analogPin)); + } + } + } + // TODO: save status to EEPROM here, if changed +} + +void reportDigitalCallback(byte port, int value) +{ + if (port < TOTAL_PORTS) { + reportPINs[port] = (byte)value; + // Send port value immediately. This is helpful when connected via + // ethernet, wi-fi or bluetooth so pin states can be known upon + // reconnecting. + if (value) outputPort(port, readPort(port, portConfigInputs[port]), true); + } + // 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 stopTX; + byte slaveAddress; + byte data; + int slaveRegister; + 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 not supported"); + return; + } + else { + slaveAddress = argv[0]; + } + + // need to invert the logic here since 0 will be default for client + // libraries that have not updated to add support for restart tx + if (argv[1] & I2C_END_TX_MASK) { + stopTX = I2C_RESTART_TX; + } + else { + stopTX = I2C_STOP_TX; // default + } + + switch (mode) { + case I2C_WRITE: + Wire.beginTransmission(slaveAddress); + for (byte i = 2; i < argc; i += 2) { + data = argv[i] + (argv[i + 1] << 7); + wireWrite(data); + } + 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 + } + else { + // a slave register is NOT specified + slaveRegister = I2C_REGISTER_NOT_SPECIFIED; + data = argv[2] + (argv[3] << 7); // bytes to read + } + readAndReportData(slaveAddress, (int)slaveRegister, data, stopTX); + break; + case I2C_READ_CONTINUOUSLY: + if ((queryIndex + 1) >= I2C_MAX_QUERIES) { + // too many queries, just ignore + Firmata.sendString("too many queries"); + break; + } + if (argc == 6) { + // a slave register is specified + slaveRegister = argv[2] + (argv[3] << 7); + data = argv[4] + (argv[5] << 7); // bytes to read + } + else { + // a slave register is NOT specified + slaveRegister = (int)I2C_REGISTER_NOT_SPECIFIED; + data = argv[2] + (argv[3] << 7); // bytes to read + } + queryIndex++; + query[queryIndex].addr = slaveAddress; + query[queryIndex].reg = slaveRegister; + query[queryIndex].bytes = data; + query[queryIndex].stopTX = stopTX; + 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 { + queryIndexToSkip = 0; + // 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 < I2C_MAX_QUERIES) { + query[i].addr = query[i + 1].addr; + query[i].reg = query[i + 1].reg; + query[i].bytes = query[i + 1].bytes; + query[i].stopTX = query[i + 1].stopTX; + } + } + queryIndex--; + } + break; + default: + break; + } + break; + case I2C_CONFIG: + delayTime = (argv[0] + (argv[1] << 7)); + + if (argc > 1 && 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_DIGITAL(pin)) { + if (servoPinMap[pin] < MAX_SERVOS && servos[servoPinMap[pin]].attached()) { + detachServo(pin); + } + attachServo(pin, minPulse, maxPulse); + setPinModeCallback(pin, PIN_MODE_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: + Firmata.write(START_SYSEX); + Firmata.write(CAPABILITY_RESPONSE); + for (byte pin = 0; pin < TOTAL_PINS; pin++) { + if (IS_PIN_DIGITAL(pin)) { + Firmata.write((byte)INPUT); + Firmata.write(1); + Firmata.write((byte)PIN_MODE_PULLUP); + Firmata.write(1); + Firmata.write((byte)OUTPUT); + Firmata.write(1); + } + if (IS_PIN_ANALOG(pin)) { + Firmata.write(PIN_MODE_ANALOG); + Firmata.write(10); // 10 = 10-bit resolution + } + if (IS_PIN_PWM(pin)) { + Firmata.write(PIN_MODE_PWM); + Firmata.write(DEFAULT_PWM_RESOLUTION); + } + if (IS_PIN_DIGITAL(pin)) { + Firmata.write(PIN_MODE_SERVO); + Firmata.write(14); + } + if (IS_PIN_I2C(pin)) { + Firmata.write(PIN_MODE_I2C); + Firmata.write(1); // TODO: could assign a number to map to SCL or SDA + } +#ifdef FIRMATA_SERIAL_FEATURE + serialFeature.handleCapability(pin); +#endif + Firmata.write(127); + } + Firmata.write(END_SYSEX); + break; + case PIN_STATE_QUERY: + if (argc > 0) { + byte pin = argv[0]; + Firmata.write(START_SYSEX); + Firmata.write(PIN_STATE_RESPONSE); + Firmata.write(pin); + if (pin < TOTAL_PINS) { + Firmata.write(Firmata.getPinMode(pin)); + Firmata.write((byte)Firmata.getPinState(pin) & 0x7F); + if (Firmata.getPinState(pin) & 0xFF80) Firmata.write((byte)(Firmata.getPinState(pin) >> 7) & 0x7F); + if (Firmata.getPinState(pin) & 0xC000) Firmata.write((byte)(Firmata.getPinState(pin) >> 14) & 0x7F); + } + Firmata.write(END_SYSEX); + } + break; + case ANALOG_MAPPING_QUERY: + Firmata.write(START_SYSEX); + Firmata.write(ANALOG_MAPPING_RESPONSE); + for (byte pin = 0; pin < TOTAL_PINS; pin++) { + Firmata.write(IS_PIN_ANALOG(pin) ? PIN_TO_ANALOG(pin) : 127); + } + Firmata.write(END_SYSEX); + break; + + case SERIAL_MESSAGE: +#ifdef FIRMATA_SERIAL_FEATURE + serialFeature.handleSysex(command, argc, argv); +#endif + break; + } +} + +/*============================================================================== + * SETUP() + *============================================================================*/ + +void systemResetCallback() +{ + isResetting = true; + + // initialize a defalt state + // TODO: option to load config from EEPROM instead of default + +#ifdef FIRMATA_SERIAL_FEATURE + serialFeature.reset(); +#endif + + if (isI2CEnabled) { + disableI2CPins(); + } + + for (byte i = 0; i < TOTAL_PORTS; i++) { + reportPINs[i] = false; // by default, reporting off + portConfigInputs[i] = 0; // until activated + previousPINs[i] = 0; + } + + for (byte i = 0; i < TOTAL_PINS; i++) { + // pins with analog capability default to analog input + // otherwise, pins default to digital output + if (IS_PIN_ANALOG(i)) { + // turns off pullup, configures everything + setPinModeCallback(i, PIN_MODE_ANALOG); + } else if (IS_PIN_DIGITAL(i)) { + // sets the output to 0, configures portConfigInputs + setPinModeCallback(i, OUTPUT); + } + + servoPinMap[i] = 255; + } + // by default, do not report any analog inputs + analogInputsToReport = 0; + + detachedServoCount = 0; + servoCount = 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); + } + */ + isResetting = false; +} + +void initFirmataCommonBegin() +{ + Firmata.setFirmwareVersion(FIRMATA_FIRMWARE_MAJOR_VERSION, FIRMATA_FIRMWARE_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(SET_DIGITAL_PIN_VALUE, setPinValueCallback); + Firmata.attach(START_SYSEX, sysexCallback); + Firmata.attach(SYSTEM_RESET, systemResetCallback); +} + +void initFirmataCommonEnd() +{ + systemResetCallback(); // reset to default config +} + +/*============================================================================== + * LOOP() + *============================================================================*/ +void loopFirmataCommon(bool bleSpecific = false) +{ + byte pin, analogPin; + + /* DIGITALREAD - as fast as possible, check for changes and output them to the + * Stream buffer using Stream.print() */ + checkDigitalInputs(); + + /* STREAMREAD - processing incoming messagse as soon as possible, while still + * checking digital inputs. */ + while (Firmata.available()) { + Firmata.processInput(); + } + + // TODO - ensure that Stream buffer doesn't go over 60 bytes + + currentMillis = millis(); + if (currentMillis - previousMillis > samplingInterval) { + if (bleSpecific) { + previousMillis = currentMillis; + } else { + previousMillis += samplingInterval; // no drift + } + /* ANALOGREAD - do all analogReads() at the configured sampling interval */ + for (pin = 0; pin < TOTAL_PINS; pin++) { + if (IS_PIN_ANALOG(pin) && Firmata.getPinMode(pin) == PIN_MODE_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, query[i].stopTX); + } + } + } + +#ifdef FIRMATA_SERIAL_FEATURE + serialFeature.update(); +#endif +} From a81cdc0f408f9fccb45ce87ae82b3ea53d829665 Mon Sep 17 00:00:00 2001 From: david gauchard Date: Sun, 17 May 2020 18:19:35 +0200 Subject: [PATCH 2/3] fix builder --- examples/StandardFirmata/StandardFirmata.ino | 3 ++- examples/StandardFirmataBLE/StandardFirmataBLE.ino | 3 ++- examples/StandardFirmataChipKIT/StandardFirmataChipKIT.ino | 3 ++- examples/StandardFirmataEthernet/StandardFirmataEthernet.ino | 3 ++- examples/StandardFirmataPlus/StandardFirmataPlus.ino | 3 ++- examples/StandardFirmataWiFi/StandardFirmataWiFi.ino | 3 ++- utility/ExampleStandardFirmataCommon.h | 2 +- 7 files changed, 13 insertions(+), 7 deletions(-) diff --git a/examples/StandardFirmata/StandardFirmata.ino b/examples/StandardFirmata/StandardFirmata.ino index 535c21c8..319e2263 100755 --- a/examples/StandardFirmata/StandardFirmata.ino +++ b/examples/StandardFirmata/StandardFirmata.ino @@ -25,7 +25,8 @@ #include #include -#include "utility/ExampleStandardFirmataCommon.h" +#include +#include void setup() { diff --git a/examples/StandardFirmataBLE/StandardFirmataBLE.ino b/examples/StandardFirmataBLE/StandardFirmataBLE.ino index fab638bf..95a83ba3 100755 --- a/examples/StandardFirmataBLE/StandardFirmataBLE.ino +++ b/examples/StandardFirmataBLE/StandardFirmataBLE.ino @@ -25,7 +25,8 @@ #include #include -#include "utility/ExampleStandardFirmataCommon.h" +#include +#include //#define SERIAL_DEBUG #include "utility/firmataDebug.h" diff --git a/examples/StandardFirmataChipKIT/StandardFirmataChipKIT.ino b/examples/StandardFirmataChipKIT/StandardFirmataChipKIT.ino index cf960f22..c8ed6531 100644 --- a/examples/StandardFirmataChipKIT/StandardFirmataChipKIT.ino +++ b/examples/StandardFirmataChipKIT/StandardFirmataChipKIT.ino @@ -40,7 +40,8 @@ void servoWrite(byte pwmpin, int value) #define ANALOGWRITE_PIN_MODE_PWM servoWrite #undef FIRMATA_SERIAL_FEATURE -#include "utility/ExampleStandardFirmataCommon.h" +#include +#include void setup() { diff --git a/examples/StandardFirmataEthernet/StandardFirmataEthernet.ino b/examples/StandardFirmataEthernet/StandardFirmataEthernet.ino index 06605d36..a339bc19 100644 --- a/examples/StandardFirmataEthernet/StandardFirmataEthernet.ino +++ b/examples/StandardFirmataEthernet/StandardFirmataEthernet.ino @@ -55,7 +55,8 @@ #include #include -#include "utility/ExampleStandardFirmataCommon.h" +#include +#include /* diff --git a/examples/StandardFirmataPlus/StandardFirmataPlus.ino b/examples/StandardFirmataPlus/StandardFirmataPlus.ino index 19bf9859..700fde09 100644 --- a/examples/StandardFirmataPlus/StandardFirmataPlus.ino +++ b/examples/StandardFirmataPlus/StandardFirmataPlus.ino @@ -25,7 +25,8 @@ #include #include -#include "utility/ExampleStandardFirmataCommon.h" +#include +#include /* README diff --git a/examples/StandardFirmataWiFi/StandardFirmataWiFi.ino b/examples/StandardFirmataWiFi/StandardFirmataWiFi.ino index 17d32393..ca353b79 100644 --- a/examples/StandardFirmataWiFi/StandardFirmataWiFi.ino +++ b/examples/StandardFirmataWiFi/StandardFirmataWiFi.ino @@ -27,7 +27,8 @@ #include #include -#include "utility/ExampleStandardFirmataCommon.h" +#include +#include /* README diff --git a/utility/ExampleStandardFirmataCommon.h b/utility/ExampleStandardFirmataCommon.h index ed01e0b8..730916ed 100644 --- a/utility/ExampleStandardFirmataCommon.h +++ b/utility/ExampleStandardFirmataCommon.h @@ -23,7 +23,7 @@ Last updated August 17th, 2017 */ -#include +//#include <-- sketch must include this file #ifndef SERVO #define SERVO Servo From 09c9a3628e1dbd4da9e9c42b391d670f5f7535cb Mon Sep 17 00:00:00 2001 From: david gauchard Date: Tue, 19 May 2020 14:24:44 +0200 Subject: [PATCH 3/3] remove redundant code --- examples/StandardFirmata/StandardFirmata.ino | 4 ---- 1 file changed, 4 deletions(-) diff --git a/examples/StandardFirmata/StandardFirmata.ino b/examples/StandardFirmata/StandardFirmata.ino index 319e2263..50f46970 100755 --- a/examples/StandardFirmata/StandardFirmata.ino +++ b/examples/StandardFirmata/StandardFirmata.ino @@ -46,8 +46,4 @@ void setup() void loop() { loopFirmataCommon(); - -#ifdef FIRMATA_SERIAL_FEATURE - serialFeature.update(); -#endif }