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primer commit probando arduino, va el .ino de sensor de temperatura y humedad

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2016-02-13 15:27:50 +01:00
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/*
Boards.h - Hardware Abstraction Layer for Firmata library
Copyright (c) 2006-2008 Hans-Christoph Steiner. All rights reserved.
Copyright (C) 2009-2015 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 December 19th, 2015
*/
#ifndef Firmata_Boards_h
#define Firmata_Boards_h
#include <inttypes.h>
#if defined(ARDUINO) && ARDUINO >= 100
#include "Arduino.h" // for digitalRead, digitalWrite, etc
#else
#include "WProgram.h"
#endif
// Normally Servo.h must be included before Firmata.h (which then includes
// this file). If Servo.h wasn't included, this allows the code to still
// compile, but without support for any Servos. Hopefully that's what the
// user intended by not including Servo.h
#ifndef MAX_SERVOS
#define MAX_SERVOS 0
#endif
/*
Firmata Hardware Abstraction Layer
Firmata is built on top of the hardware abstraction functions of Arduino,
specifically digitalWrite, digitalRead, analogWrite, analogRead, and
pinMode. While these functions offer simple integer pin numbers, Firmata
needs more information than is provided by Arduino. This file provides
all other hardware specific details. To make Firmata support a new board,
only this file should require editing.
The key concept is every "pin" implemented by Firmata may be mapped to
any pin as implemented by Arduino. Usually a simple 1-to-1 mapping is
best, but such mapping should not be assumed. This hardware abstraction
layer allows Firmata to implement any number of pins which map onto the
Arduino implemented pins in almost any arbitrary way.
General Constants:
These constants provide basic information Firmata requires.
TOTAL_PINS: The total number of pins Firmata implemented by Firmata.
Usually this will match the number of pins the Arduino functions
implement, including any pins pins capable of analog or digital.
However, Firmata may implement any number of pins. For example,
on Arduino Mini with 8 analog inputs, 6 of these may be used
for digital functions, and 2 are analog only. On such boards,
Firmata can implement more pins than Arduino's pinMode()
function, in order to accommodate those special pins. The
Firmata protocol supports a maximum of 128 pins, so this
constant must not exceed 128.
TOTAL_ANALOG_PINS: The total number of analog input pins implemented.
The Firmata protocol allows up to 16 analog inputs, accessed
using offsets 0 to 15. Because Firmata presents the analog
inputs using different offsets than the actual pin numbers
(a legacy of Arduino's analogRead function, and the way the
analog input capable pins are physically labeled on all
Arduino boards), the total number of analog input signals
must be specified. 16 is the maximum.
VERSION_BLINK_PIN: When Firmata starts up, it will blink the version
number. This constant is the Arduino pin number where a
LED is connected.
Pin Mapping Macros:
These macros provide the mapping between pins as implemented by
Firmata protocol and the actual pin numbers used by the Arduino
functions. Even though such mappings are often simple, pin
numbers received by Firmata protocol should always be used as
input to these macros, and the result of the macro should be
used with with any Arduino function.
When Firmata is extended to support a new pin mode or feature,
a pair of macros should be added and used for all hardware
access. For simple 1:1 mapping, these macros add no actual
overhead, yet their consistent use allows source code which
uses them consistently to be easily adapted to all other boards
with different requirements.
IS_PIN_XXXX(pin): The IS_PIN macros resolve to true or non-zero
if a pin as implemented by Firmata corresponds to a pin
that actually implements the named feature.
PIN_TO_XXXX(pin): The PIN_TO macros translate pin numbers as
implemented by Firmata to the pin numbers needed as inputs
to the Arduino functions. The corresponding IS_PIN macro
should always be tested before using a PIN_TO macro, so
these macros only need to handle valid Firmata pin
numbers for the named feature.
Port Access Inline Funtions:
For efficiency, Firmata protocol provides access to digital
input and output pins grouped by 8 bit ports. When these
groups of 8 correspond to actual 8 bit ports as implemented
by the hardware, these inline functions can provide high
speed direct port access. Otherwise, a default implementation
using 8 calls to digitalWrite or digitalRead is used.
When porting Firmata to a new board, it is recommended to
use the default functions first and focus only on the constants
and macros above. When those are working, if optimized port
access is desired, these inline functions may be extended.
The recommended approach defines a symbol indicating which
optimization to use, and then conditional complication is
used within these functions.
readPort(port, bitmask): Read an 8 bit port, returning the value.
port: The port number, Firmata pins port*8 to port*8+7
bitmask: The actual pins to read, indicated by 1 bits.
writePort(port, value, bitmask): Write an 8 bit port.
port: The port number, Firmata pins port*8 to port*8+7
value: The 8 bit value to write
bitmask: The actual pins to write, indicated by 1 bits.
*/
/*==============================================================================
* Board Specific Configuration
*============================================================================*/
#ifndef digitalPinHasPWM
#define digitalPinHasPWM(p) IS_PIN_DIGITAL(p)
#endif
// Arduino Duemilanove, Diecimila, and NG
#if defined(__AVR_ATmega168__) || defined(__AVR_ATmega328P__) || defined(__AVR_ATmega328__)
#if defined(NUM_ANALOG_INPUTS) && NUM_ANALOG_INPUTS == 6
#define TOTAL_ANALOG_PINS 6
#define TOTAL_PINS 20 // 14 digital + 6 analog
#else
#define TOTAL_ANALOG_PINS 8
#define TOTAL_PINS 22 // 14 digital + 8 analog
#endif
#define VERSION_BLINK_PIN 13
#define IS_PIN_DIGITAL(p) ((p) >= 2 && (p) <= 19)
#define IS_PIN_ANALOG(p) ((p) >= 14 && (p) < 14 + TOTAL_ANALOG_PINS)
#define IS_PIN_PWM(p) digitalPinHasPWM(p)
#define IS_PIN_SERVO(p) (IS_PIN_DIGITAL(p) && (p) - 2 < MAX_SERVOS)
#define IS_PIN_I2C(p) ((p) == 18 || (p) == 19)
#define IS_PIN_SPI(p) ((p) == SS || (p) == MOSI || (p) == MISO || (p) == SCK)
#define PIN_TO_DIGITAL(p) (p)
#define PIN_TO_ANALOG(p) ((p) - 14)
#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p)
#define PIN_TO_SERVO(p) ((p) - 2)
#define ARDUINO_PINOUT_OPTIMIZE 1
// Wiring (and board)
#elif defined(WIRING)
#define VERSION_BLINK_PIN WLED
#define IS_PIN_DIGITAL(p) ((p) >= 0 && (p) < TOTAL_PINS)
#define IS_PIN_ANALOG(p) ((p) >= FIRST_ANALOG_PIN && (p) < (FIRST_ANALOG_PIN+TOTAL_ANALOG_PINS))
#define IS_PIN_PWM(p) digitalPinHasPWM(p)
#define IS_PIN_SERVO(p) ((p) >= 0 && (p) < MAX_SERVOS)
#define IS_PIN_I2C(p) ((p) == SDA || (p) == SCL)
#define IS_PIN_SPI(p) ((p) == SS || (p) == MOSI || (p) == MISO || (p) == SCK)
#define PIN_TO_DIGITAL(p) (p)
#define PIN_TO_ANALOG(p) ((p) - FIRST_ANALOG_PIN)
#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p)
#define PIN_TO_SERVO(p) (p)
// old Arduinos
#elif defined(__AVR_ATmega8__)
#define TOTAL_ANALOG_PINS 6
#define TOTAL_PINS 20 // 14 digital + 6 analog
#define VERSION_BLINK_PIN 13
#define IS_PIN_DIGITAL(p) ((p) >= 2 && (p) <= 19)
#define IS_PIN_ANALOG(p) ((p) >= 14 && (p) <= 19)
#define IS_PIN_PWM(p) digitalPinHasPWM(p)
#define IS_PIN_SERVO(p) (IS_PIN_DIGITAL(p) && (p) - 2 < MAX_SERVOS)
#define IS_PIN_I2C(p) ((p) == 18 || (p) == 19)
#define PIN_TO_DIGITAL(p) (p)
#define PIN_TO_ANALOG(p) ((p) - 14)
#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p)
#define PIN_TO_SERVO(p) ((p) - 2)
#define ARDUINO_PINOUT_OPTIMIZE 1
// Arduino Mega
#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
#define TOTAL_ANALOG_PINS 16
#define TOTAL_PINS 70 // 54 digital + 16 analog
#define VERSION_BLINK_PIN 13
#define PIN_SERIAL1_RX 19
#define PIN_SERIAL1_TX 18
#define PIN_SERIAL2_RX 17
#define PIN_SERIAL2_TX 16
#define PIN_SERIAL3_RX 15
#define PIN_SERIAL3_TX 14
#define IS_PIN_DIGITAL(p) ((p) >= 2 && (p) < TOTAL_PINS)
#define IS_PIN_ANALOG(p) ((p) >= 54 && (p) < TOTAL_PINS)
#define IS_PIN_PWM(p) digitalPinHasPWM(p)
#define IS_PIN_SERVO(p) ((p) >= 2 && (p) - 2 < MAX_SERVOS)
#define IS_PIN_I2C(p) ((p) == 20 || (p) == 21)
#define IS_PIN_SPI(p) ((p) == SS || (p) == MOSI || (p) == MISO || (p) == SCK)
#define IS_PIN_SERIAL(p) ((p) > 13 && (p) < 20)
#define PIN_TO_DIGITAL(p) (p)
#define PIN_TO_ANALOG(p) ((p) - 54)
#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p)
#define PIN_TO_SERVO(p) ((p) - 2)
// Arduino DUE
#elif defined(__SAM3X8E__)
#define TOTAL_ANALOG_PINS 12
#define TOTAL_PINS 66 // 54 digital + 12 analog
#define VERSION_BLINK_PIN 13
#define PIN_SERIAL1_RX 19
#define PIN_SERIAL1_TX 18
#define PIN_SERIAL2_RX 17
#define PIN_SERIAL2_TX 16
#define PIN_SERIAL3_RX 15
#define PIN_SERIAL3_TX 14
#define IS_PIN_DIGITAL(p) ((p) >= 2 && (p) < TOTAL_PINS)
#define IS_PIN_ANALOG(p) ((p) >= 54 && (p) < TOTAL_PINS)
#define IS_PIN_PWM(p) digitalPinHasPWM(p)
#define IS_PIN_SERVO(p) ((p) >= 2 && (p) - 2 < MAX_SERVOS)
#define IS_PIN_I2C(p) ((p) == 20 || (p) == 21) // 70 71
#define IS_PIN_SERIAL(p) ((p) > 13 && (p) < 20)
#define PIN_TO_DIGITAL(p) (p)
#define PIN_TO_ANALOG(p) ((p) - 54)
#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p)
#define PIN_TO_SERVO(p) ((p) - 2)
// Arduino Zero
// Note this will work with an Arduino Zero Pro, but not with an Arduino M0 Pro
// Arduino M0 Pro does not properly map pins to the board labeled pin numbers
#elif defined(_VARIANT_ARDUINO_ZERO_)
#define TOTAL_ANALOG_PINS 6
#define TOTAL_PINS 25 // 14 digital + 6 analog + 2 i2c + 3 spi
#define TOTAL_PORTS 3 // set when TOTAL_PINS > num digitial I/O pins
#define VERSION_BLINK_PIN LED_BUILTIN
//#define PIN_SERIAL1_RX 0 // already defined in zero core variant.h
//#define PIN_SERIAL1_TX 1 // already defined in zero core variant.h
#define IS_PIN_DIGITAL(p) ((p) >= 0 && (p) <= 19)
#define IS_PIN_ANALOG(p) ((p) >= 14 && (p) < 14 + TOTAL_ANALOG_PINS)
#define IS_PIN_PWM(p) digitalPinHasPWM(p)
#define IS_PIN_SERVO(p) (IS_PIN_DIGITAL(p) && (p) < MAX_SERVOS) // deprecated since v2.4
#define IS_PIN_I2C(p) ((p) == 20 || (p) == 21) // SDA = 20, SCL = 21
#define IS_PIN_SPI(p) ((p) == SS || (p) == MOSI || (p) == MISO || (p) == SCK) // SS = A2
#define IS_PIN_SERIAL(p) ((p) == 0 || (p) == 1)
#define PIN_TO_DIGITAL(p) (p)
#define PIN_TO_ANALOG(p) ((p) - 14)
#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p)
#define PIN_TO_SERVO(p) (p) // deprecated since v2.4
// Arduino 101
#elif defined(_VARIANT_ARDUINO_101_X_)
#define TOTAL_ANALOG_PINS NUM_ANALOG_INPUTS
#define TOTAL_PINS NUM_DIGITAL_PINS // 15 digital (including ATN pin) + 6 analog
#define VERSION_BLINK_PIN LED_BUILTIN
#define PIN_SERIAL1_RX 0
#define PIN_SERIAL1_TX 1
#define IS_PIN_DIGITAL(p) ((p) >= 0 && (p) <= 20)
#define IS_PIN_ANALOG(p) ((p) >= 14 && (p) < 14 + TOTAL_ANALOG_PINS)
#define IS_PIN_PWM(p) digitalPinHasPWM(p) // 3, 5, 6, 9
#define IS_PIN_SERVO(p) (IS_PIN_DIGITAL(p) && (p) < MAX_SERVOS) // deprecated since v2.4
#define IS_PIN_I2C(p) ((p) == SDA || (p) == SCL) // SDA = 18, SCL = 19
#define IS_PIN_SPI(p) ((p) == SS || (p) == MOSI || (p) == MISO || (p) == SCK)
#define IS_PIN_SERIAL(p) ((p) == 0 || (p) == 1)
#define PIN_TO_DIGITAL(p) (p)
#define PIN_TO_ANALOG(p) ((p) - 14)
#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p)
#define PIN_TO_SERVO(p) (p) // deprecated since v2.4
// Teensy 1.0
#elif defined(__AVR_AT90USB162__)
#define TOTAL_ANALOG_PINS 0
#define TOTAL_PINS 21 // 21 digital + no analog
#define VERSION_BLINK_PIN 6
#define PIN_SERIAL1_RX 2
#define PIN_SERIAL1_TX 3
#define IS_PIN_DIGITAL(p) ((p) >= 0 && (p) < TOTAL_PINS)
#define IS_PIN_ANALOG(p) (0)
#define IS_PIN_PWM(p) digitalPinHasPWM(p)
#define IS_PIN_SERVO(p) ((p) >= 0 && (p) < MAX_SERVOS)
#define IS_PIN_I2C(p) (0)
#define IS_PIN_SPI(p) ((p) == SS || (p) == MOSI || (p) == MISO || (p) == SCK)
#define IS_PIN_SERIAL(p) ((p) == 2 || (p) == 3)
#define PIN_TO_DIGITAL(p) (p)
#define PIN_TO_ANALOG(p) (0)
#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p)
#define PIN_TO_SERVO(p) (p)
// Teensy 2.0
#elif defined(__AVR_ATmega32U4__) && defined(CORE_TEENSY)
#define TOTAL_ANALOG_PINS 12
#define TOTAL_PINS 25 // 11 digital + 12 analog
#define VERSION_BLINK_PIN 11
#define PIN_SERIAL1_RX 7
#define PIN_SERIAL1_TX 8
#define IS_PIN_DIGITAL(p) ((p) >= 0 && (p) < TOTAL_PINS)
#define IS_PIN_ANALOG(p) ((p) >= 11 && (p) <= 22)
#define IS_PIN_PWM(p) digitalPinHasPWM(p)
#define IS_PIN_SERVO(p) ((p) >= 0 && (p) < MAX_SERVOS)
#define IS_PIN_I2C(p) ((p) == 5 || (p) == 6)
#define IS_PIN_SPI(p) ((p) == SS || (p) == MOSI || (p) == MISO || (p) == SCK)
#define IS_PIN_SERIAL(p) ((p) == 7 || (p) == 8)
#define PIN_TO_DIGITAL(p) (p)
#define PIN_TO_ANALOG(p) (((p) < 22) ? 21 - (p) : 11)
#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p)
#define PIN_TO_SERVO(p) (p)
// Teensy 3.0, 3.1 and 3.2
#elif defined(__MK20DX128__) || defined(__MK20DX256__)
#define TOTAL_ANALOG_PINS 14
#define TOTAL_PINS 38 // 24 digital + 10 analog-digital + 4 analog
#define VERSION_BLINK_PIN 13
#define PIN_SERIAL1_RX 0
#define PIN_SERIAL1_TX 1
#define PIN_SERIAL2_RX 9
#define PIN_SERIAL2_TX 10
#define PIN_SERIAL3_RX 7
#define PIN_SERIAL3_TX 8
#define IS_PIN_DIGITAL(p) ((p) >= 0 && (p) <= 33)
#define IS_PIN_ANALOG(p) (((p) >= 14 && (p) <= 23) || ((p) >= 34 && (p) <= 38))
#define IS_PIN_PWM(p) digitalPinHasPWM(p)
#define IS_PIN_SERVO(p) ((p) >= 0 && (p) < MAX_SERVOS)
#define IS_PIN_I2C(p) ((p) == 18 || (p) == 19)
#define IS_PIN_SERIAL(p) (((p) > 6 && (p) < 11) || ((p) == 0 || (p) == 1))
#define PIN_TO_DIGITAL(p) (p)
#define PIN_TO_ANALOG(p) (((p) <= 23) ? (p) - 14 : (p) - 24)
#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p)
#define PIN_TO_SERVO(p) (p)
// Teensy-LC
#elif defined(__MKL26Z64__)
#define TOTAL_ANALOG_PINS 13
#define TOTAL_PINS 27 // 27 digital + 13 analog-digital
#define VERSION_BLINK_PIN 13
#define PIN_SERIAL1_RX 0
#define PIN_SERIAL1_TX 1
#define PIN_SERIAL2_RX 9
#define PIN_SERIAL2_TX 10
#define PIN_SERIAL3_RX 7
#define PIN_SERIAL3_TX 8
#define IS_PIN_DIGITAL(p) ((p) >= 0 && (p) <= 26)
#define IS_PIN_ANALOG(p) ((p) >= 14)
#define IS_PIN_PWM(p) digitalPinHasPWM(p)
#define IS_PIN_SERVO(p) ((p) >= 0 && (p) < MAX_SERVOS)
#define IS_PIN_I2C(p) ((p) == 18 || (p) == 19)
#define IS_PIN_SERIAL(p) (((p) > 6 && (p) < 11) || ((p) == 0 || (p) == 1))
#define PIN_TO_DIGITAL(p) (p)
#define PIN_TO_ANALOG(p) ((p) - 14)
#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p)
#define PIN_TO_SERVO(p) (p)
// Teensy++ 1.0 and 2.0
#elif defined(__AVR_AT90USB646__) || defined(__AVR_AT90USB1286__)
#define TOTAL_ANALOG_PINS 8
#define TOTAL_PINS 46 // 38 digital + 8 analog
#define VERSION_BLINK_PIN 6
#define PIN_SERIAL1_RX 2
#define PIN_SERIAL1_TX 3
#define IS_PIN_DIGITAL(p) ((p) >= 0 && (p) < TOTAL_PINS)
#define IS_PIN_ANALOG(p) ((p) >= 38 && (p) < TOTAL_PINS)
#define IS_PIN_PWM(p) digitalPinHasPWM(p)
#define IS_PIN_SERVO(p) ((p) >= 0 && (p) < MAX_SERVOS)
#define IS_PIN_I2C(p) ((p) == 0 || (p) == 1)
#define IS_PIN_SPI(p) ((p) == SS || (p) == MOSI || (p) == MISO || (p) == SCK)
#define IS_PIN_SERIAL(p) ((p) == 2 || (p) == 3)
#define PIN_TO_DIGITAL(p) (p)
#define PIN_TO_ANALOG(p) ((p) - 38)
#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p)
#define PIN_TO_SERVO(p) (p)
// Leonardo
#elif defined(__AVR_ATmega32U4__)
#define TOTAL_ANALOG_PINS 12
#define TOTAL_PINS 30 // 14 digital + 12 analog + 4 SPI (D14-D17 on ISP header)
#define VERSION_BLINK_PIN 13
#define PIN_SERIAL1_RX 0
#define PIN_SERIAL1_TX 1
#define IS_PIN_DIGITAL(p) ((p) >= 0 && (p) < TOTAL_PINS)
#define IS_PIN_ANALOG(p) ((p) >= 18 && (p) < TOTAL_PINS)
#define IS_PIN_PWM(p) ((p) == 3 || (p) == 5 || (p) == 6 || (p) == 9 || (p) == 10 || (p) == 11 || (p) == 13)
#define IS_PIN_SERVO(p) ((p) >= 0 && (p) < MAX_SERVOS)
#define IS_PIN_I2C(p) ((p) == 2 || (p) == 3)
#define IS_PIN_SPI(p) ((p) == SS || (p) == MOSI || (p) == MISO || (p) == SCK)
#define IS_PIN_SERIAL(p) ((p) == 0 || (p) == 1)
#define PIN_TO_DIGITAL(p) (p)
#define PIN_TO_ANALOG(p) (p) - 18
#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p)
#define PIN_TO_SERVO(p) (p)
// Intel Galileo Board (gen 1 and 2) and Intel Edison
#elif defined(ARDUINO_LINUX)
#define TOTAL_ANALOG_PINS 6
#define TOTAL_PINS 20 // 14 digital + 6 analog
#define VERSION_BLINK_PIN 13
#define PIN_SERIAL1_RX 0
#define PIN_SERIAL1_TX 1
#define IS_PIN_DIGITAL(p) ((p) >= 2 && (p) <= 19)
#define IS_PIN_ANALOG(p) ((p) >= 14 && (p) <= 19)
#define IS_PIN_PWM(p) digitalPinHasPWM(p)
#define IS_PIN_SERVO(p) (IS_PIN_DIGITAL(p) && (p) - 2 < MAX_SERVOS)
#define IS_PIN_I2C(p) ((p) == SDA || (p) == SCL)
#define IS_PIN_SPI(p) ((p) == SS || (p) == MOSI || (p) == MISO || (p) == SCK)
#define IS_PIN_SERIAL(p) ((p) == 0 || (p) == 1)
#define PIN_TO_DIGITAL(p) (p)
#define PIN_TO_ANALOG(p) ((p) - 14)
#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p)
#define PIN_TO_SERVO(p) ((p) - 2)
// Sanguino
#elif defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644__)
#define TOTAL_ANALOG_PINS 8
#define TOTAL_PINS 32 // 24 digital + 8 analog
#define VERSION_BLINK_PIN 0
#define IS_PIN_DIGITAL(p) ((p) >= 2 && (p) < TOTAL_PINS)
#define IS_PIN_ANALOG(p) ((p) >= 24 && (p) < TOTAL_PINS)
#define IS_PIN_PWM(p) digitalPinHasPWM(p)
#define IS_PIN_SERVO(p) ((p) >= 0 && (p) < MAX_SERVOS)
#define IS_PIN_I2C(p) ((p) == 16 || (p) == 17)
#define PIN_TO_DIGITAL(p) (p)
#define PIN_TO_ANALOG(p) ((p) - 24)
#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p)
#define PIN_TO_SERVO(p) ((p) - 2)
// Illuminato
#elif defined(__AVR_ATmega645__)
#define TOTAL_ANALOG_PINS 6
#define TOTAL_PINS 42 // 36 digital + 6 analog
#define VERSION_BLINK_PIN 13
#define IS_PIN_DIGITAL(p) ((p) >= 2 && (p) < TOTAL_PINS)
#define IS_PIN_ANALOG(p) ((p) >= 36 && (p) < TOTAL_PINS)
#define IS_PIN_PWM(p) digitalPinHasPWM(p)
#define IS_PIN_SERVO(p) ((p) >= 0 && (p) < MAX_SERVOS)
#define IS_PIN_I2C(p) ((p) == 4 || (p) == 5)
#define PIN_TO_DIGITAL(p) (p)
#define PIN_TO_ANALOG(p) ((p) - 36)
#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p)
#define PIN_TO_SERVO(p) ((p) - 2)
// Pic32 chipKIT FubarinoSD
#elif defined(_BOARD_FUBARINO_SD_)
#define TOTAL_ANALOG_PINS NUM_ANALOG_PINS // 15
#define TOTAL_PINS NUM_DIGITAL_PINS // 45, All pins can be digital
#define MAX_SERVOS NUM_DIGITAL_PINS
#define VERSION_BLINK_PIN PIN_LED1
#define IS_PIN_DIGITAL(p) 1
#define IS_PIN_ANALOG(p) ((p) >= 30 && (p) <= 44)
#define IS_PIN_PWM(p) IS_PIN_DIGITAL(p)
#define IS_PIN_SERVO(p) IS_PIN_DIGITAL(p)
#define IS_PIN_I2C(p) ((p) == 1 || (p) == 2)
#define IS_PIN_SPI(p) ((p) == SS || (p) == MOSI || (p) == MISO || (p) == SCK)
#define PIN_TO_DIGITAL(p) (p)
#define PIN_TO_ANALOG(p) (14 - (p - 30))
#define PIN_TO_PWM(p) (p)
#define PIN_TO_SERVO(p) (p)
// Pic32 chipKIT FubarinoMini
// Note, FubarinoMini analog pin 20 will not function in Firmata as analog input due to limitation in analog mapping
#elif defined(_BOARD_FUBARINO_MINI_)
#define TOTAL_ANALOG_PINS 14 // We have to fake this because of the poor analog pin mapping planning in FubarinoMini
#define TOTAL_PINS NUM_DIGITAL_PINS // 33
#define MAX_SERVOS NUM_DIGITAL_PINS
#define VERSION_BLINK_PIN PIN_LED1
#define IS_PIN_DIGITAL(p) ((p) != 14 && (p) != 15 && (p) != 31 && (p) != 32)
#define IS_PIN_ANALOG(p) ((p) == 0 || ((p) >= 3 && (p) <= 13))
#define IS_PIN_PWM(p) IS_PIN_DIGITAL(p)
#define IS_PIN_SERVO(p) IS_PIN_DIGITAL(p)
#define IS_PIN_I2C(p) ((p) == 25 || (p) == 26)
#define IS_PIN_SPI(p) ((p) == SS || (p) == MOSI || (p) == MISO || (p) == SCK)
#define PIN_TO_DIGITAL(p) (p)
#define PIN_TO_ANALOG(p) (p)
#define PIN_TO_PWM(p) (p)
#define PIN_TO_SERVO(p) (p)
// Pic32 chipKIT UNO32
#elif defined(_BOARD_UNO_) && defined(__PIC32) // NOTE: no _BOARD_UNO32_ to use
#define TOTAL_ANALOG_PINS NUM_ANALOG_PINS // 12
#define TOTAL_PINS NUM_DIGITAL_PINS // 47 All pins can be digital
#define MAX_SERVOS NUM_DIGITAL_PINS // All pins can be servo with SoftPWMservo
#define VERSION_BLINK_PIN PIN_LED1
#define IS_PIN_DIGITAL(p) ((p) >= 2)
#define IS_PIN_ANALOG(p) ((p) >= 14 && (p) <= 25)
#define IS_PIN_PWM(p) IS_PIN_DIGITAL(p)
#define IS_PIN_SERVO(p) IS_PIN_DIGITAL(p)
#define IS_PIN_I2C(p) ((p) == 45 || (p) == 46)
#define IS_PIN_SPI(p) ((p) == SS || (p) == MOSI || (p) == MISO || (p) == SCK)
#define PIN_TO_DIGITAL(p) (p)
#define PIN_TO_ANALOG(p) ((p) - 14)
#define PIN_TO_PWM(p) (p)
#define PIN_TO_SERVO(p) (p)
// Pic32 chipKIT DP32
#elif defined(_BOARD_DP32_)
#define TOTAL_ANALOG_PINS 15 // Really only has 9, but have to override because of mistake in variant file
#define TOTAL_PINS NUM_DIGITAL_PINS // 19
#define MAX_SERVOS NUM_DIGITAL_PINS // All pins can be servo with SoftPWMservo
#define VERSION_BLINK_PIN PIN_LED1
#define IS_PIN_DIGITAL(p) (((p) != 1) && ((p) != 4) && ((p) != 5) && ((p) != 15) && ((p) != 16))
#define IS_PIN_ANALOG(p) ((p) >= 6 && (p) <= 14)
#define IS_PIN_PWM(p) IS_PIN_DIGITAL(p)
#define IS_PIN_SERVO(p) IS_PIN_DIGITAL(p)
#define IS_PIN_I2C(p) ((p) == 2 || (p) == 3)
#define IS_PIN_SPI(p) ((p) == SS || (p) == MOSI || (p) == MISO || (p) == SCK)
#define PIN_TO_DIGITAL(p) (p)
#define PIN_TO_ANALOG(p) (p)
#define PIN_TO_PWM(p) (p)
#define PIN_TO_SERVO(p) (p)
// Pic32 chipKIT uC32
#elif defined(_BOARD_UC32_)
#define TOTAL_ANALOG_PINS NUM_ANALOG_PINS // 12
#define TOTAL_PINS NUM_DIGITAL_PINS // 47 All pins can be digital
#define MAX_SERVOS NUM_DIGITAL_PINS // All pins can be servo with SoftPWMservo
#define VERSION_BLINK_PIN PIN_LED1
#define IS_PIN_DIGITAL(p) ((p) >= 2)
#define IS_PIN_ANALOG(p) ((p) >= 14 && (p) <= 25)
#define IS_PIN_PWM(p) IS_PIN_DIGITAL(p)
#define IS_PIN_SERVO(p) IS_PIN_DIGITAL(p)
#define IS_PIN_I2C(p) ((p) == 45 || (p) == 46)
#define IS_PIN_SPI(p) ((p) == SS || (p) == MOSI || (p) == MISO || (p) == SCK)
#define PIN_TO_DIGITAL(p) (p)
#define PIN_TO_ANALOG(p) ((p) - 14)
#define PIN_TO_PWM(p) (p)
#define PIN_TO_SERVO(p) (p)
// Pic32 chipKIT WF32
#elif defined(_BOARD_WF32_)
#define TOTAL_ANALOG_PINS NUM_ANALOG_PINS
#define TOTAL_PINS NUM_DIGITAL_PINS
#define MAX_SERVOS NUM_DIGITAL_PINS
#define VERSION_BLINK_PIN PIN_LED1
#define IS_PIN_DIGITAL(p) ((p) >= 2 && (p) <= 49) // Accounts for SD and WiFi dedicated pins
#define IS_PIN_ANALOG(p) ((p) >= 14 && (p) <= 25)
#define IS_PIN_PWM(p) IS_PIN_DIGITAL(p)
#define IS_PIN_SERVO(p) IS_PIN_DIGITAL(p)
#define IS_PIN_I2C(p) ((p) == 34 || (p) == 35)
#define IS_PIN_SPI(p) ((p) == SS || (p) == MOSI || (p) == MISO || (p) == SCK)
#define PIN_TO_DIGITAL(p) (p)
#define PIN_TO_ANALOG(p) ((p) - 14)
#define PIN_TO_PWM(p) (p)
#define PIN_TO_SERVO(p) (p)
// Pic32 chipKIT WiFire
#elif defined(_BOARD_WIFIRE_)
#define TOTAL_ANALOG_PINS NUM_ANALOG_PINS // 14
#define TOTAL_PINS NUM_DIGITAL_PINS // 71
#define MAX_SERVOS NUM_DIGITAL_PINS
#define VERSION_BLINK_PIN PIN_LED1
#define IS_PIN_DIGITAL(p) ((p) >= 2 && (p) <= 47) // Accounts for SD and WiFi dedicated pins
#define IS_PIN_ANALOG(p) ((p) >= 14 && (p) <= 25)
#define IS_PIN_PWM(p) IS_PIN_DIGITAL(p)
#define IS_PIN_SERVO(p) IS_PIN_DIGITAL(p)
#define IS_PIN_I2C(p) ((p) == 34 || (p) == 35)
#define IS_PIN_SPI(p) ((p) == SS || (p) == MOSI || (p) == MISO || (p) == SCK)
#define PIN_TO_DIGITAL(p) (p)
#define PIN_TO_ANALOG(p) ((p) <= 25 ? ((p) - 14) : (p) - 36)
#define PIN_TO_PWM(p) (p)
#define PIN_TO_SERVO(p) (p)
// Pic32 chipKIT MAX32
#elif defined(_BOARD_MEGA_) && defined(__PIC32) // NOTE: no _BOARD_MAX32_ to use
#define TOTAL_ANALOG_PINS NUM_ANALOG_PINS // 16
#define TOTAL_PINS NUM_DIGITAL_PINS // 87
#define MAX_SERVOS NUM_DIGITAL_PINS
#define VERSION_BLINK_PIN PIN_LED1
#define IS_PIN_DIGITAL(p) ((p) >= 2)
#define IS_PIN_ANALOG(p) ((p) >= 54 && (p) <= 69)
#define IS_PIN_PWM(p) IS_PIN_DIGITAL(p)
#define IS_PIN_SERVO(p) IS_PIN_DIGITAL(p)
#define IS_PIN_I2C(p) ((p) == 34 || (p) == 35)
#define IS_PIN_SPI(p) ((p) == SS || (p) == MOSI || (p) == MISO || (p) == SCK)
#define PIN_TO_DIGITAL(p) (p)
#define PIN_TO_ANALOG(p) ((p) - 54)
#define PIN_TO_PWM(p) (p)
#define PIN_TO_SERVO(p) (p)
// Pic32 chipKIT Pi
#elif defined(_BOARD_CHIPKIT_PI_)
#define TOTAL_ANALOG_PINS 16
#define TOTAL_PINS NUM_DIGITAL_PINS // 19
#define MAX_SERVOS NUM_DIGITAL_PINS
#define VERSION_BLINK_PIN PIN_LED1
#define IS_PIN_DIGITAL(p) (((p) >= 2) && ((p) <= 3) || (((p) >= 8) && ((p) <= 13)) || (((p) >= 14) && ((p) <= 17)))
#define IS_PIN_ANALOG(p) ((p) >= 14 && (p) <= 17)
#define IS_PIN_PWM(p) IS_PIN_DIGITAL(p)
#define IS_PIN_SERVO(p) IS_PIN_DIGITAL(p)
#define IS_PIN_I2C(p) ((p) == 16 || (p) == 17)
#define IS_PIN_SPI(p) ((p) == SS || (p) == MOSI || (p) == MISO || (p) == SCK)
#define PIN_TO_DIGITAL(p) (p)
#define PIN_TO_ANALOG(p) ((p) <= 15 ? (p) - 14 : (p) - 12)
//#define PIN_TO_ANALOG(p) (((p) <= 16) ? ((p) - 14) : ((p) - 16))
#define PIN_TO_PWM(p) (p)
#define PIN_TO_SERVO(p) (p)
// Pinoccio Scout
// Note: digital pins 9-16 are usable but not labeled on the board numerically.
// SS=9, MOSI=10, MISO=11, SCK=12, RX1=13, TX1=14, SCL=15, SDA=16
#elif defined(ARDUINO_PINOCCIO)
#define TOTAL_ANALOG_PINS 8
#define TOTAL_PINS NUM_DIGITAL_PINS // 32
#define VERSION_BLINK_PIN 23
#define PIN_SERIAL1_RX 13
#define PIN_SERIAL1_TX 14
#define IS_PIN_DIGITAL(p) (((p) >= 2) && ((p) <= 16)) || (((p) >= 24) && ((p) <= 31))
#define IS_PIN_ANALOG(p) ((p) >= 24 && (p) <= 31)
#define IS_PIN_PWM(p) digitalPinHasPWM(p)
#define IS_PIN_SERVO(p) IS_PIN_DIGITAL(p)
#define IS_PIN_I2C(p) ((p) == SCL || (p) == SDA)
#define IS_PIN_SPI(p) ((p) == SS || (p) == MOSI || (p) == MISO || (p) == SCK)
#define IS_PIN_SERIAL(p) ((p) == 13 || (p) == 14)
#define PIN_TO_DIGITAL(p) (p)
#define PIN_TO_ANALOG(p) ((p) - 24)
#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p)
#define PIN_TO_SERVO(p) ((p) - 2)
// anything else
#else
#error "Please edit Boards.h with a hardware abstraction for this board"
#endif
// as long this is not defined for all boards:
#ifndef IS_PIN_SPI
#define IS_PIN_SPI(p) 0
#endif
#ifndef IS_PIN_SERIAL
#define IS_PIN_SERIAL(p) 0
#endif
/*==============================================================================
* readPort() - Read an 8 bit port
*============================================================================*/
static inline unsigned char readPort(byte, byte) __attribute__((always_inline, unused));
static inline unsigned char readPort(byte port, byte bitmask)
{
#if defined(ARDUINO_PINOUT_OPTIMIZE)
if (port == 0) return (PIND & 0xFC) & bitmask; // ignore Rx/Tx 0/1
if (port == 1) return ((PINB & 0x3F) | ((PINC & 0x03) << 6)) & bitmask;
if (port == 2) return ((PINC & 0x3C) >> 2) & bitmask;
return 0;
#else
unsigned char out = 0, pin = port * 8;
if (IS_PIN_DIGITAL(pin + 0) && (bitmask & 0x01) && digitalRead(PIN_TO_DIGITAL(pin + 0))) out |= 0x01;
if (IS_PIN_DIGITAL(pin + 1) && (bitmask & 0x02) && digitalRead(PIN_TO_DIGITAL(pin + 1))) out |= 0x02;
if (IS_PIN_DIGITAL(pin + 2) && (bitmask & 0x04) && digitalRead(PIN_TO_DIGITAL(pin + 2))) out |= 0x04;
if (IS_PIN_DIGITAL(pin + 3) && (bitmask & 0x08) && digitalRead(PIN_TO_DIGITAL(pin + 3))) out |= 0x08;
if (IS_PIN_DIGITAL(pin + 4) && (bitmask & 0x10) && digitalRead(PIN_TO_DIGITAL(pin + 4))) out |= 0x10;
if (IS_PIN_DIGITAL(pin + 5) && (bitmask & 0x20) && digitalRead(PIN_TO_DIGITAL(pin + 5))) out |= 0x20;
if (IS_PIN_DIGITAL(pin + 6) && (bitmask & 0x40) && digitalRead(PIN_TO_DIGITAL(pin + 6))) out |= 0x40;
if (IS_PIN_DIGITAL(pin + 7) && (bitmask & 0x80) && digitalRead(PIN_TO_DIGITAL(pin + 7))) out |= 0x80;
return out;
#endif
}
/*==============================================================================
* writePort() - Write an 8 bit port, only touch pins specified by a bitmask
*============================================================================*/
static inline unsigned char writePort(byte, byte, byte) __attribute__((always_inline, unused));
static inline unsigned char writePort(byte port, byte value, byte bitmask)
{
#if defined(ARDUINO_PINOUT_OPTIMIZE)
if (port == 0) {
bitmask = bitmask & 0xFC; // do not touch Tx & Rx pins
byte valD = value & bitmask;
byte maskD = ~bitmask;
cli();
PORTD = (PORTD & maskD) | valD;
sei();
} else if (port == 1) {
byte valB = (value & bitmask) & 0x3F;
byte valC = (value & bitmask) >> 6;
byte maskB = ~(bitmask & 0x3F);
byte maskC = ~((bitmask & 0xC0) >> 6);
cli();
PORTB = (PORTB & maskB) | valB;
PORTC = (PORTC & maskC) | valC;
sei();
} else if (port == 2) {
bitmask = bitmask & 0x0F;
byte valC = (value & bitmask) << 2;
byte maskC = ~(bitmask << 2);
cli();
PORTC = (PORTC & maskC) | valC;
sei();
}
return 1;
#else
byte pin = port * 8;
if ((bitmask & 0x01)) digitalWrite(PIN_TO_DIGITAL(pin + 0), (value & 0x01));
if ((bitmask & 0x02)) digitalWrite(PIN_TO_DIGITAL(pin + 1), (value & 0x02));
if ((bitmask & 0x04)) digitalWrite(PIN_TO_DIGITAL(pin + 2), (value & 0x04));
if ((bitmask & 0x08)) digitalWrite(PIN_TO_DIGITAL(pin + 3), (value & 0x08));
if ((bitmask & 0x10)) digitalWrite(PIN_TO_DIGITAL(pin + 4), (value & 0x10));
if ((bitmask & 0x20)) digitalWrite(PIN_TO_DIGITAL(pin + 5), (value & 0x20));
if ((bitmask & 0x40)) digitalWrite(PIN_TO_DIGITAL(pin + 6), (value & 0x40));
if ((bitmask & 0x80)) digitalWrite(PIN_TO_DIGITAL(pin + 7), (value & 0x80));
return 1;
#endif
}
#ifndef TOTAL_PORTS
#define TOTAL_PORTS ((TOTAL_PINS + 7) / 8)
#endif
#endif /* Firmata_Boards_h */

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/*
Firmata.cpp - Firmata library v2.5.1 - 2015-12-26
Copyright (c) 2006-2008 Hans-Christoph Steiner. All rights reserved.
Copyright (C) 2009-2015 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.
*/
//******************************************************************************
//* Includes
//******************************************************************************
#include "Firmata.h"
#include "HardwareSerial.h"
extern "C" {
#include <string.h>
#include <stdlib.h>
}
//******************************************************************************
//* Support Functions
//******************************************************************************
void FirmataClass::sendValueAsTwo7bitBytes(int value)
{
FirmataStream->write(value & B01111111); // LSB
FirmataStream->write(value >> 7 & B01111111); // MSB
}
void FirmataClass::startSysex(void)
{
FirmataStream->write(START_SYSEX);
}
void FirmataClass::endSysex(void)
{
FirmataStream->write(END_SYSEX);
}
//******************************************************************************
//* Constructors
//******************************************************************************
FirmataClass::FirmataClass()
{
firmwareVersionCount = 0;
firmwareVersionVector = 0;
systemReset();
}
//******************************************************************************
//* Public Methods
//******************************************************************************
/* begin method with default serial bitrate */
void FirmataClass::begin(void)
{
begin(57600);
}
/* begin method for overriding default serial bitrate */
void FirmataClass::begin(long speed)
{
Serial.begin(speed);
FirmataStream = &Serial;
blinkVersion();
printVersion();
printFirmwareVersion();
}
/* begin method for overriding default stream */
void FirmataClass::begin(Stream &s)
{
FirmataStream = &s;
// do not call blinkVersion() here because some hardware such as the
// Ethernet shield use pin 13
printVersion();
printFirmwareVersion();
}
// output the protocol version message to the serial port
void FirmataClass::printVersion(void)
{
FirmataStream->write(REPORT_VERSION);
FirmataStream->write(FIRMATA_PROTOCOL_MAJOR_VERSION);
FirmataStream->write(FIRMATA_PROTOCOL_MINOR_VERSION);
}
void FirmataClass::blinkVersion(void)
{
#if defined(VERSION_BLINK_PIN)
// flash the pin with the protocol version
pinMode(VERSION_BLINK_PIN, OUTPUT);
strobeBlinkPin(VERSION_BLINK_PIN, FIRMATA_FIRMWARE_MAJOR_VERSION, 40, 210);
delay(250);
strobeBlinkPin(VERSION_BLINK_PIN, FIRMATA_FIRMWARE_MINOR_VERSION, 40, 210);
delay(125);
#endif
}
void FirmataClass::printFirmwareVersion(void)
{
byte i;
if (firmwareVersionCount) { // make sure that the name has been set before reporting
startSysex();
FirmataStream->write(REPORT_FIRMWARE);
FirmataStream->write(firmwareVersionVector[0]); // major version number
FirmataStream->write(firmwareVersionVector[1]); // minor version number
for (i = 2; i < firmwareVersionCount; ++i) {
sendValueAsTwo7bitBytes(firmwareVersionVector[i]);
}
endSysex();
}
}
void FirmataClass::setFirmwareNameAndVersion(const char *name, byte major, byte minor)
{
const char *firmwareName;
const char *extension;
// parse out ".cpp" and "applet/" that comes from using __FILE__
extension = strstr(name, ".cpp");
firmwareName = strrchr(name, '/');
if (!firmwareName) {
// windows
firmwareName = strrchr(name, '\\');
}
if (!firmwareName) {
// user passed firmware name
firmwareName = name;
} else {
firmwareName ++;
}
if (!extension) {
firmwareVersionCount = strlen(firmwareName) + 2;
} else {
firmwareVersionCount = extension - firmwareName + 2;
}
// in case anyone calls setFirmwareNameAndVersion more than once
free(firmwareVersionVector);
firmwareVersionVector = (byte *) malloc(firmwareVersionCount + 1);
firmwareVersionVector[firmwareVersionCount] = 0;
firmwareVersionVector[0] = major;
firmwareVersionVector[1] = minor;
strncpy((char *)firmwareVersionVector + 2, firmwareName, firmwareVersionCount - 2);
}
//------------------------------------------------------------------------------
// Serial Receive Handling
int FirmataClass::available(void)
{
return FirmataStream->available();
}
void FirmataClass::processSysexMessage(void)
{
switch (storedInputData[0]) { //first byte in buffer is command
case REPORT_FIRMWARE:
printFirmwareVersion();
break;
case STRING_DATA:
if (currentStringCallback) {
byte bufferLength = (sysexBytesRead - 1) / 2;
byte i = 1;
byte j = 0;
while (j < bufferLength) {
// The string length will only be at most half the size of the
// stored input buffer so we can decode the string within the buffer.
storedInputData[j] = storedInputData[i];
i++;
storedInputData[j] += (storedInputData[i] << 7);
i++;
j++;
}
// Make sure string is null terminated. This may be the case for data
// coming from client libraries in languages that don't null terminate
// strings.
if (storedInputData[j - 1] != '\0') {
storedInputData[j] = '\0';
}
(*currentStringCallback)((char *)&storedInputData[0]);
}
break;
default:
if (currentSysexCallback)
(*currentSysexCallback)(storedInputData[0], sysexBytesRead - 1, storedInputData + 1);
}
}
void FirmataClass::processInput(void)
{
int inputData = FirmataStream->read(); // this is 'int' to handle -1 when no data
int command;
// TODO make sure it handles -1 properly
if (parsingSysex) {
if (inputData == END_SYSEX) {
//stop sysex byte
parsingSysex = false;
//fire off handler function
processSysexMessage();
} else {
//normal data byte - add to buffer
storedInputData[sysexBytesRead] = inputData;
sysexBytesRead++;
}
} else if ( (waitForData > 0) && (inputData < 128) ) {
waitForData--;
storedInputData[waitForData] = inputData;
if ( (waitForData == 0) && executeMultiByteCommand ) { // got the whole message
switch (executeMultiByteCommand) {
case ANALOG_MESSAGE:
if (currentAnalogCallback) {
(*currentAnalogCallback)(multiByteChannel,
(storedInputData[0] << 7)
+ storedInputData[1]);
}
break;
case DIGITAL_MESSAGE:
if (currentDigitalCallback) {
(*currentDigitalCallback)(multiByteChannel,
(storedInputData[0] << 7)
+ storedInputData[1]);
}
break;
case SET_PIN_MODE:
if (currentPinModeCallback)
(*currentPinModeCallback)(storedInputData[1], storedInputData[0]);
break;
case SET_DIGITAL_PIN_VALUE:
if (currentPinValueCallback)
(*currentPinValueCallback)(storedInputData[1], storedInputData[0]);
break;
case REPORT_ANALOG:
if (currentReportAnalogCallback)
(*currentReportAnalogCallback)(multiByteChannel, storedInputData[0]);
break;
case REPORT_DIGITAL:
if (currentReportDigitalCallback)
(*currentReportDigitalCallback)(multiByteChannel, storedInputData[0]);
break;
}
executeMultiByteCommand = 0;
}
} else {
// remove channel info from command byte if less than 0xF0
if (inputData < 0xF0) {
command = inputData & 0xF0;
multiByteChannel = inputData & 0x0F;
} else {
command = inputData;
// commands in the 0xF* range don't use channel data
}
switch (command) {
case ANALOG_MESSAGE:
case DIGITAL_MESSAGE:
case SET_PIN_MODE:
case SET_DIGITAL_PIN_VALUE:
waitForData = 2; // two data bytes needed
executeMultiByteCommand = command;
break;
case REPORT_ANALOG:
case REPORT_DIGITAL:
waitForData = 1; // one data byte needed
executeMultiByteCommand = command;
break;
case START_SYSEX:
parsingSysex = true;
sysexBytesRead = 0;
break;
case SYSTEM_RESET:
systemReset();
break;
case REPORT_VERSION:
Firmata.printVersion();
break;
}
}
}
//------------------------------------------------------------------------------
// Serial Send Handling
// send an analog message
void FirmataClass::sendAnalog(byte pin, int value)
{
// pin can only be 0-15, so chop higher bits
FirmataStream->write(ANALOG_MESSAGE | (pin & 0xF));
sendValueAsTwo7bitBytes(value);
}
// send a single digital pin in a digital message
void FirmataClass::sendDigital(byte pin, int value)
{
/* TODO add single pin digital messages to the protocol, this needs to
* track the last digital data sent so that it can be sure to change just
* one bit in the packet. This is complicated by the fact that the
* numbering of the pins will probably differ on Arduino, Wiring, and
* other boards.
*/
// TODO: the digital message should not be sent on the serial port every
// time sendDigital() is called. Instead, it should add it to an int
// which will be sent on a schedule. If a pin changes more than once
// before the digital message is sent on the serial port, it should send a
// digital message for each change.
// if(value == 0)
// sendDigitalPortPair();
}
// send 14-bits in a single digital message (protocol v1)
// send an 8-bit port in a single digital message (protocol v2)
void FirmataClass::sendDigitalPort(byte portNumber, int portData)
{
FirmataStream->write(DIGITAL_MESSAGE | (portNumber & 0xF));
FirmataStream->write((byte)portData % 128); // Tx bits 0-6
FirmataStream->write(portData >> 7); // Tx bits 7-13
}
void FirmataClass::sendSysex(byte command, byte bytec, byte *bytev)
{
byte i;
startSysex();
FirmataStream->write(command);
for (i = 0; i < bytec; i++) {
sendValueAsTwo7bitBytes(bytev[i]);
}
endSysex();
}
void FirmataClass::sendString(byte command, const char *string)
{
sendSysex(command, strlen(string), (byte *)string);
}
// send a string as the protocol string type
void FirmataClass::sendString(const char *string)
{
sendString(STRING_DATA, string);
}
// expose the write method
void FirmataClass::write(byte c)
{
FirmataStream->write(c);
}
// Internal Actions/////////////////////////////////////////////////////////////
// generic callbacks
void FirmataClass::attach(byte command, callbackFunction newFunction)
{
switch (command) {
case ANALOG_MESSAGE: currentAnalogCallback = newFunction; break;
case DIGITAL_MESSAGE: currentDigitalCallback = newFunction; break;
case REPORT_ANALOG: currentReportAnalogCallback = newFunction; break;
case REPORT_DIGITAL: currentReportDigitalCallback = newFunction; break;
case SET_PIN_MODE: currentPinModeCallback = newFunction; break;
case SET_DIGITAL_PIN_VALUE: currentPinValueCallback = newFunction; break;
}
}
void FirmataClass::attach(byte command, systemResetCallbackFunction newFunction)
{
switch (command) {
case SYSTEM_RESET: currentSystemResetCallback = newFunction; break;
}
}
void FirmataClass::attach(byte command, stringCallbackFunction newFunction)
{
switch (command) {
case STRING_DATA: currentStringCallback = newFunction; break;
}
}
void FirmataClass::attach(byte command, sysexCallbackFunction newFunction)
{
currentSysexCallback = newFunction;
}
void FirmataClass::detach(byte command)
{
switch (command) {
case SYSTEM_RESET: currentSystemResetCallback = NULL; break;
case STRING_DATA: currentStringCallback = NULL; break;
case START_SYSEX: currentSysexCallback = NULL; break;
default:
attach(command, (callbackFunction)NULL);
}
}
// sysex callbacks
/*
* this is too complicated for analogReceive, but maybe for Sysex?
void FirmataClass::attachSysex(sysexFunction newFunction)
{
byte i;
byte tmpCount = analogReceiveFunctionCount;
analogReceiveFunction* tmpArray = analogReceiveFunctionArray;
analogReceiveFunctionCount++;
analogReceiveFunctionArray = (analogReceiveFunction*) calloc(analogReceiveFunctionCount, sizeof(analogReceiveFunction));
for(i = 0; i < tmpCount; i++) {
analogReceiveFunctionArray[i] = tmpArray[i];
}
analogReceiveFunctionArray[tmpCount] = newFunction;
free(tmpArray);
}
*/
//******************************************************************************
//* Private Methods
//******************************************************************************
// resets the system state upon a SYSTEM_RESET message from the host software
void FirmataClass::systemReset(void)
{
byte i;
waitForData = 0; // this flag says the next serial input will be data
executeMultiByteCommand = 0; // execute this after getting multi-byte data
multiByteChannel = 0; // channel data for multiByteCommands
for (i = 0; i < MAX_DATA_BYTES; i++) {
storedInputData[i] = 0;
}
parsingSysex = false;
sysexBytesRead = 0;
if (currentSystemResetCallback)
(*currentSystemResetCallback)();
}
// =============================================================================
// used for flashing the pin for the version number
void FirmataClass::strobeBlinkPin(byte pin, int count, int onInterval, int offInterval)
{
byte i;
for (i = 0; i < count; i++) {
delay(offInterval);
digitalWrite(pin, HIGH);
delay(onInterval);
digitalWrite(pin, LOW);
}
}
// make one instance for the user to use
FirmataClass Firmata;

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/*
Firmata.h - Firmata library v2.5.1 - 2015-12-26
Copyright (c) 2006-2008 Hans-Christoph Steiner. All rights reserved.
Copyright (C) 2009-2015 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.
*/
#ifndef Firmata_h
#define Firmata_h
#include "Boards.h" /* Hardware Abstraction Layer + Wiring/Arduino */
/* Version numbers for the protocol. The protocol is still changing, so these
* version numbers are important.
* Query using the REPORT_VERSION message.
*/
#define FIRMATA_PROTOCOL_MAJOR_VERSION 2 // for non-compatible changes
#define FIRMATA_PROTOCOL_MINOR_VERSION 5 // for backwards compatible changes
#define FIRMATA_PROTOCOL_BUGFIX_VERSION 1 // for bugfix releases
/* Version numbers for the Firmata library.
* The firmware version will not always equal the protocol version going forward.
* Query using the REPORT_FIRMWARE message.
*/
#define FIRMATA_FIRMWARE_MAJOR_VERSION 2
#define FIRMATA_FIRMWARE_MINOR_VERSION 5
#define FIRMATA_FIRMWARE_BUGFIX_VERSION 1
/* DEPRECATED as of Firmata v2.5.1. As of 2.5.1 there are separate version numbers for
* the protocol version and the firmware version.
*/
#define FIRMATA_MAJOR_VERSION 2 // same as FIRMATA_PROTOCOL_MAJOR_VERSION
#define FIRMATA_MINOR_VERSION 5 // same as FIRMATA_PROTOCOL_MINOR_VERSION
#define FIRMATA_BUGFIX_VERSION 1 // same as FIRMATA_PROTOCOL_BUGFIX_VERSION
#define MAX_DATA_BYTES 64 // max number of data bytes in incoming messages
// Arduino 101 also defines SET_PIN_MODE as a macro in scss_registers.h
#ifdef SET_PIN_MODE
#undef SET_PIN_MODE
#endif
// message command bytes (128-255/0x80-0xFF)
#define DIGITAL_MESSAGE 0x90 // send data for a digital port (collection of 8 pins)
#define ANALOG_MESSAGE 0xE0 // send data for an analog pin (or PWM)
#define REPORT_ANALOG 0xC0 // enable analog input by pin #
#define REPORT_DIGITAL 0xD0 // enable digital input by port pair
//
#define SET_PIN_MODE 0xF4 // set a pin to INPUT/OUTPUT/PWM/etc
#define SET_DIGITAL_PIN_VALUE 0xF5 // set value of an individual digital pin
//
#define REPORT_VERSION 0xF9 // report protocol version
#define SYSTEM_RESET 0xFF // reset from MIDI
//
#define START_SYSEX 0xF0 // start a MIDI Sysex message
#define END_SYSEX 0xF7 // end a MIDI Sysex message
// extended command set using sysex (0-127/0x00-0x7F)
/* 0x00-0x0F reserved for user-defined commands */
#define SERIAL_MESSAGE 0x60 // communicate with serial devices, including other boards
#define ENCODER_DATA 0x61 // reply with encoders current positions
#define SERVO_CONFIG 0x70 // set max angle, minPulse, maxPulse, freq
#define STRING_DATA 0x71 // a string message with 14-bits per char
#define STEPPER_DATA 0x72 // control a stepper motor
#define ONEWIRE_DATA 0x73 // send an OneWire read/write/reset/select/skip/search request
#define SHIFT_DATA 0x75 // a bitstream to/from a shift register
#define I2C_REQUEST 0x76 // send an I2C read/write request
#define I2C_REPLY 0x77 // a reply to an I2C read request
#define I2C_CONFIG 0x78 // config I2C settings such as delay times and power pins
#define EXTENDED_ANALOG 0x6F // analog write (PWM, Servo, etc) to any pin
#define PIN_STATE_QUERY 0x6D // ask for a pin's current mode and value
#define PIN_STATE_RESPONSE 0x6E // reply with pin's current mode and value
#define CAPABILITY_QUERY 0x6B // ask for supported modes and resolution of all pins
#define CAPABILITY_RESPONSE 0x6C // reply with supported modes and resolution
#define ANALOG_MAPPING_QUERY 0x69 // ask for mapping of analog to pin numbers
#define ANALOG_MAPPING_RESPONSE 0x6A // reply with mapping info
#define REPORT_FIRMWARE 0x79 // report name and version of the firmware
#define SAMPLING_INTERVAL 0x7A // set the poll rate of the main loop
#define SCHEDULER_DATA 0x7B // send a createtask/deletetask/addtotask/schedule/querytasks/querytask request to the scheduler
#define SYSEX_NON_REALTIME 0x7E // MIDI Reserved for non-realtime messages
#define SYSEX_REALTIME 0x7F // MIDI Reserved for realtime messages
// these are DEPRECATED to make the naming more consistent
#define FIRMATA_STRING 0x71 // same as STRING_DATA
#define SYSEX_I2C_REQUEST 0x76 // same as I2C_REQUEST
#define SYSEX_I2C_REPLY 0x77 // same as I2C_REPLY
#define SYSEX_SAMPLING_INTERVAL 0x7A // same as SAMPLING_INTERVAL
// pin modes
//#define INPUT 0x00 // defined in Arduino.h
//#define OUTPUT 0x01 // defined in Arduino.h
#define PIN_MODE_ANALOG 0x02 // analog pin in analogInput mode
#define PIN_MODE_PWM 0x03 // digital pin in PWM output mode
#define PIN_MODE_SERVO 0x04 // digital pin in Servo output mode
#define PIN_MODE_SHIFT 0x05 // shiftIn/shiftOut mode
#define PIN_MODE_I2C 0x06 // pin included in I2C setup
#define PIN_MODE_ONEWIRE 0x07 // pin configured for 1-wire
#define PIN_MODE_STEPPER 0x08 // pin configured for stepper motor
#define PIN_MODE_ENCODER 0x09 // pin configured for rotary encoders
#define PIN_MODE_SERIAL 0x0A // pin configured for serial communication
#define PIN_MODE_PULLUP 0x0B // enable internal pull-up resistor for pin
#define PIN_MODE_IGNORE 0x7F // pin configured to be ignored by digitalWrite and capabilityResponse
#define TOTAL_PIN_MODES 13
// DEPRECATED as of Firmata v2.5
#define ANALOG 0x02 // same as PIN_MODE_ANALOG
#define PWM 0x03 // same as PIN_MODE_PWM
#define SERVO 0x04 // same as PIN_MODE_SERVO
#define SHIFT 0x05 // same as PIN_MODE_SHIFT
#define I2C 0x06 // same as PIN_MODE_I2C
#define ONEWIRE 0x07 // same as PIN_MODE_ONEWIRE
#define STEPPER 0x08 // same as PIN_MODE_STEPPER
#define ENCODER 0x09 // same as PIN_MODE_ENCODER
extern "C" {
// callback function types
typedef void (*callbackFunction)(byte, int);
typedef void (*systemResetCallbackFunction)(void);
typedef void (*stringCallbackFunction)(char *);
typedef void (*sysexCallbackFunction)(byte command, byte argc, byte *argv);
}
// TODO make it a subclass of a generic Serial/Stream base class
class FirmataClass
{
public:
FirmataClass();
/* Arduino constructors */
void begin();
void begin(long);
void begin(Stream &s);
/* querying functions */
void printVersion(void);
void blinkVersion(void);
void printFirmwareVersion(void);
//void setFirmwareVersion(byte major, byte minor); // see macro below
void setFirmwareNameAndVersion(const char *name, byte major, byte minor);
/* serial receive handling */
int available(void);
void processInput(void);
/* serial send handling */
void sendAnalog(byte pin, int value);
void sendDigital(byte pin, int value); // TODO implement this
void sendDigitalPort(byte portNumber, int portData);
void sendString(const char *string);
void sendString(byte command, const char *string);
void sendSysex(byte command, byte bytec, byte *bytev);
void write(byte c);
/* attach & detach callback functions to messages */
void attach(byte command, callbackFunction newFunction);
void attach(byte command, systemResetCallbackFunction newFunction);
void attach(byte command, stringCallbackFunction newFunction);
void attach(byte command, sysexCallbackFunction newFunction);
void detach(byte command);
/* utility methods */
void sendValueAsTwo7bitBytes(int value);
void startSysex(void);
void endSysex(void);
private:
Stream *FirmataStream;
/* firmware name and version */
byte firmwareVersionCount;
byte *firmwareVersionVector;
/* input message handling */
byte waitForData; // this flag says the next serial input will be data
byte executeMultiByteCommand; // execute this after getting multi-byte data
byte multiByteChannel; // channel data for multiByteCommands
byte storedInputData[MAX_DATA_BYTES]; // multi-byte data
/* sysex */
boolean parsingSysex;
int sysexBytesRead;
/* callback functions */
callbackFunction currentAnalogCallback;
callbackFunction currentDigitalCallback;
callbackFunction currentReportAnalogCallback;
callbackFunction currentReportDigitalCallback;
callbackFunction currentPinModeCallback;
callbackFunction currentPinValueCallback;
systemResetCallbackFunction currentSystemResetCallback;
stringCallbackFunction currentStringCallback;
sysexCallbackFunction currentSysexCallback;
/* private methods ------------------------------ */
void processSysexMessage(void);
void systemReset(void);
void strobeBlinkPin(byte pin, int count, int onInterval, int offInterval);
};
extern FirmataClass Firmata;
/*==============================================================================
* MACROS
*============================================================================*/
/* shortcut for setFirmwareNameAndVersion() that uses __FILE__ to set the
* firmware name. It needs to be a macro so that __FILE__ is included in the
* firmware source file rather than the library source file.
*/
#define setFirmwareVersion(x, y) setFirmwareNameAndVersion(__FILE__, x, y)
#endif /* Firmata_h */

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/*
* Firmata is a generic protocol for communicating with microcontrollers
* from software on a host computer. It is intended to work with
* any host computer software package.
*
* To download a host software package, please clink on the following link
* to open the download page in your default browser.
*
* http://firmata.org/wiki/Download
*/
/*
* This firmware reads all inputs and sends them as fast as it can. It was
* inspired by the ease-of-use of the Arduino2Max program.
*
* This example code is in the public domain.
*/
#include <Firmata.h>
byte pin;
int analogValue;
int previousAnalogValues[TOTAL_ANALOG_PINS];
byte portStatus[TOTAL_PORTS]; // each bit: 1=pin is digital input, 0=other/ignore
byte previousPINs[TOTAL_PORTS];
/* timer variables */
unsigned long currentMillis; // store the current value from millis()
unsigned long previousMillis; // for comparison with currentMillis
/* make sure that the FTDI buffer doesn't go over 60 bytes, otherwise you
get long, random delays. So only read analogs every 20ms or so */
int samplingInterval = 19; // how often to run the main loop (in ms)
void sendPort(byte portNumber, byte portValue)
{
portValue = portValue & portStatus[portNumber];
if (previousPINs[portNumber] != portValue) {
Firmata.sendDigitalPort(portNumber, portValue);
previousPINs[portNumber] = portValue;
}
}
void setup()
{
byte i, port, status;
Firmata.setFirmwareVersion(FIRMATA_FIRMWARE_MAJOR_VERSION, FIRMATA_FIRMWARE_MINOR_VERSION);
for (pin = 0; pin < TOTAL_PINS; pin++) {
if IS_PIN_DIGITAL(pin) pinMode(PIN_TO_DIGITAL(pin), INPUT);
}
for (port = 0; port < TOTAL_PORTS; port++) {
status = 0;
for (i = 0; i < 8; i++) {
if (IS_PIN_DIGITAL(port * 8 + i)) status |= (1 << i);
}
portStatus[port] = status;
}
Firmata.begin(57600);
}
void loop()
{
byte i;
for (i = 0; i < TOTAL_PORTS; i++) {
sendPort(i, readPort(i, 0xff));
}
/* make sure that the FTDI buffer doesn't go over 60 bytes, otherwise you
get long, random delays. So only read analogs every 20ms or so */
currentMillis = millis();
if (currentMillis - previousMillis > samplingInterval) {
previousMillis += samplingInterval;
while (Firmata.available()) {
Firmata.processInput();
}
for (pin = 0; pin < TOTAL_ANALOG_PINS; pin++) {
analogValue = analogRead(pin);
if (analogValue != previousAnalogValues[pin]) {
Firmata.sendAnalog(pin, analogValue);
previousAnalogValues[pin] = analogValue;
}
}
}
}

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/*
* Firmata is a generic protocol for communicating with microcontrollers
* from software on a host computer. It is intended to work with
* any host computer software package.
*
* To download a host software package, please clink on the following link
* to open the download page in your default browser.
*
* http://firmata.org/wiki/Download
*/
/* This firmware supports as many analog ports as possible, all analog inputs,
* four PWM outputs, and two with servo support.
*
* This example code is in the public domain.
*/
#include <Servo.h>
#include <Firmata.h>
/*==============================================================================
* GLOBAL VARIABLES
*============================================================================*/
/* servos */
Servo servo9, servo10; // one instance per pin
/* analog inputs */
int analogInputsToReport = 0; // bitwise array to store pin reporting
int analogPin = 0; // counter for reading analog pins
/* timer variables */
unsigned long currentMillis; // store the current value from millis()
unsigned long previousMillis; // for comparison with currentMillis
/*==============================================================================
* FUNCTIONS
*============================================================================*/
void analogWriteCallback(byte pin, int value)
{
switch (pin) {
case 9: servo9.write(value); break;
case 10: servo10.write(value); break;
case 3:
case 5:
case 6:
case 11: // PWM pins
analogWrite(pin, value);
break;
}
}
// -----------------------------------------------------------------------------
// sets bits in a bit array (int) to toggle the reporting of the analogIns
void reportAnalogCallback(byte pin, int value)
{
if (value == 0) {
analogInputsToReport = analogInputsToReport & ~ (1 << pin);
}
else { // everything but 0 enables reporting of that pin
analogInputsToReport = analogInputsToReport | (1 << pin);
}
// TODO: save status to EEPROM here, if changed
}
/*==============================================================================
* SETUP()
*============================================================================*/
void setup()
{
Firmata.setFirmwareVersion(FIRMATA_FIRMWARE_MAJOR_VERSION, FIRMATA_FIRMWARE_MINOR_VERSION);
Firmata.attach(ANALOG_MESSAGE, analogWriteCallback);
Firmata.attach(REPORT_ANALOG, reportAnalogCallback);
servo9.attach(9);
servo10.attach(10);
Firmata.begin(57600);
}
/*==============================================================================
* LOOP()
*============================================================================*/
void loop()
{
while (Firmata.available())
Firmata.processInput();
currentMillis = millis();
if (currentMillis - previousMillis > 20) {
previousMillis += 20; // run this every 20ms
for (analogPin = 0; analogPin < TOTAL_ANALOG_PINS; analogPin++) {
if ( analogInputsToReport & (1 << analogPin) )
Firmata.sendAnalog(analogPin, analogRead(analogPin));
}
}
}

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/*
* Firmata is a generic protocol for communicating with microcontrollers
* from software on a host computer. It is intended to work with
* any host computer software package.
*
* To download a host software package, please clink on the following link
* to open the download page in your default browser.
*
* http://firmata.org/wiki/Download
*/
/* This sketch accepts strings and raw sysex messages and echos them back.
*
* This example code is in the public domain.
*/
#include <Firmata.h>
void stringCallback(char *myString)
{
Firmata.sendString(myString);
}
void sysexCallback(byte command, byte argc, byte *argv)
{
Firmata.sendSysex(command, argc, argv);
}
void setup()
{
Firmata.setFirmwareVersion(FIRMATA_FIRMWARE_MAJOR_VERSION, FIRMATA_FIRMWARE_MINOR_VERSION);
Firmata.attach(STRING_DATA, stringCallback);
Firmata.attach(START_SYSEX, sysexCallback);
Firmata.begin(57600);
}
void loop()
{
while (Firmata.available()) {
Firmata.processInput();
}
}

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GNU LESSER GENERAL PUBLIC LICENSE
Version 2.1, February 1999
Copyright (C) 1991, 1999 Free Software Foundation, Inc.
51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
Everyone is permitted to copy and distribute verbatim copies
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239
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/*
* Firmata is a generic protocol for communicating with microcontrollers
* from software on a host computer. It is intended to work with
* any host computer software package.
*
* To download a host software package, please clink on the following link
* to open the download page in your default browser.
*
* http://firmata.org/wiki/Download
*/
/*
Copyright (C) 2006-2008 Hans-Christoph Steiner. All rights reserved.
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
See file LICENSE.txt for further informations on licensing terms.
*/
/*
* This is an old version of StandardFirmata (v2.0). It is kept here because
* its the last version that works on an ATMEGA8 chip. Also, it can be used
* for host software that has not been updated to a newer version of the
* protocol. It also uses the old baud rate of 115200 rather than 57600.
*/
#include <EEPROM.h>
#include <Firmata.h>
/*==============================================================================
* GLOBAL VARIABLES
*============================================================================*/
/* analog inputs */
int analogInputsToReport = 0; // bitwise array to store pin reporting
int analogPin = 0; // counter for reading analog pins
/* digital pins */
byte reportPINs[TOTAL_PORTS]; // PIN == input port
byte previousPINs[TOTAL_PORTS]; // PIN == input port
byte pinStatus[TOTAL_PINS]; // store pin status, default OUTPUT
byte portStatus[TOTAL_PORTS];
/* timer variables */
unsigned long currentMillis; // store the current value from millis()
unsigned long previousMillis; // for comparison with currentMillis
/*==============================================================================
* FUNCTIONS
*============================================================================*/
void outputPort(byte portNumber, byte portValue)
{
portValue = portValue & ~ portStatus[portNumber];
if (previousPINs[portNumber] != portValue) {
Firmata.sendDigitalPort(portNumber, portValue);
previousPINs[portNumber] = portValue;
Firmata.sendDigitalPort(portNumber, portValue);
}
}
/* -----------------------------------------------------------------------------
* check all the active digital inputs for change of state, then add any events
* to the Serial output queue using Serial.print() */
void checkDigitalInputs(void)
{
byte i, tmp;
for (i = 0; i < TOTAL_PORTS; i++) {
if (reportPINs[i]) {
switch (i) {
case 0: outputPort(0, PIND & ~ B00000011); break; // ignore Rx/Tx 0/1
case 1: outputPort(1, PINB); break;
case 2: outputPort(2, PINC); break;
}
}
}
}
// -----------------------------------------------------------------------------
/* sets the pin mode to the correct state and sets the relevant bits in the
* two bit-arrays that track Digital I/O and PWM status
*/
void setPinModeCallback(byte pin, int mode) {
byte port = 0;
byte offset = 0;
if (pin < 8) {
port = 0;
offset = 0;
} else if (pin < 14) {
port = 1;
offset = 8;
} else if (pin < 22) {
port = 2;
offset = 14;
}
if (pin > 1) { // ignore RxTx (pins 0 and 1)
pinStatus[pin] = mode;
switch (mode) {
case INPUT:
pinMode(pin, INPUT);
portStatus[port] = portStatus[port] & ~ (1 << (pin - offset));
break;
case OUTPUT:
digitalWrite(pin, LOW); // disable PWM
case PWM:
pinMode(pin, OUTPUT);
portStatus[port] = portStatus[port] | (1 << (pin - offset));
break;
//case ANALOG: // TODO figure this out
default:
Firmata.sendString("");
}
// TODO: save status to EEPROM here, if changed
}
}
void analogWriteCallback(byte pin, int value)
{
setPinModeCallback(pin, PIN_MODE_PWM);
analogWrite(pin, value);
}
void digitalWriteCallback(byte port, int value)
{
switch (port) {
case 0: // pins 2-7 (don't change Rx/Tx, pins 0 and 1)
// 0xFF03 == B1111111100000011 0x03 == B00000011
PORTD = (value & ~ 0xFF03) | (PORTD & 0x03);
break;
case 1: // pins 8-13 (14,15 are disabled for the crystal)
PORTB = (byte)value;
break;
case 2: // analog pins used as digital
PORTC = (byte)value;
break;
}
}
// -----------------------------------------------------------------------------
/* sets bits in a bit array (int) to toggle the reporting of the analogIns
*/
//void FirmataClass::setAnalogPinReporting(byte pin, byte state) {
//}
void reportAnalogCallback(byte pin, int value)
{
if (value == 0) {
analogInputsToReport = analogInputsToReport & ~ (1 << pin);
}
else { // everything but 0 enables reporting of that pin
analogInputsToReport = analogInputsToReport | (1 << pin);
}
// TODO: save status to EEPROM here, if changed
}
void reportDigitalCallback(byte port, int value)
{
reportPINs[port] = (byte)value;
if (port == 2) // turn off analog reporting when used as digital
analogInputsToReport = 0;
}
/*==============================================================================
* SETUP()
*============================================================================*/
void setup()
{
byte i;
Firmata.setFirmwareVersion(2, 0);
Firmata.attach(ANALOG_MESSAGE, analogWriteCallback);
Firmata.attach(DIGITAL_MESSAGE, digitalWriteCallback);
Firmata.attach(REPORT_ANALOG, reportAnalogCallback);
Firmata.attach(REPORT_DIGITAL, reportDigitalCallback);
Firmata.attach(SET_PIN_MODE, setPinModeCallback);
portStatus[0] = B00000011; // ignore Tx/RX pins
portStatus[1] = B11000000; // ignore 14/15 pins
portStatus[2] = B00000000;
// for(i=0; i<TOTAL_PINS; ++i) { // TODO make this work with analogs
for (i = 0; i < 14; ++i) {
setPinModeCallback(i, OUTPUT);
}
// set all outputs to 0 to make sure internal pull-up resistors are off
PORTB = 0; // pins 8-15
PORTC = 0; // analog port
PORTD = 0; // pins 0-7
// TODO rethink the init, perhaps it should report analog on default
for (i = 0; i < TOTAL_PORTS; ++i) {
reportPINs[i] = false;
}
// TODO: load state from EEPROM here
/* send digital inputs here, if enabled, to set the initial state on the
* host computer, since once in the loop(), this firmware will only send
* digital data on change. */
if (reportPINs[0]) outputPort(0, PIND & ~ B00000011); // ignore Rx/Tx 0/1
if (reportPINs[1]) outputPort(1, PINB);
if (reportPINs[2]) outputPort(2, PINC);
Firmata.begin(115200);
}
/*==============================================================================
* LOOP()
*============================================================================*/
void loop()
{
/* DIGITALREAD - as fast as possible, check for changes and output them to the
* FTDI buffer using Serial.print() */
checkDigitalInputs();
currentMillis = millis();
if (currentMillis - previousMillis > 20) {
previousMillis += 20; // run this every 20ms
/* SERIALREAD - Serial.read() uses a 128 byte circular buffer, so handle
* all serialReads at once, i.e. empty the buffer */
while (Firmata.available())
Firmata.processInput();
/* SEND FTDI WRITE BUFFER - make sure that the FTDI buffer doesn't go over
* 60 bytes. use a timer to sending an event character every 4 ms to
* trigger the buffer to dump. */
/* ANALOGREAD - right after the event character, do all of the
* analogReads(). These only need to be done every 4ms. */
for (analogPin = 0; analogPin < TOTAL_ANALOG_PINS; analogPin++) {
if ( analogInputsToReport & (1 << analogPin) ) {
Firmata.sendAnalog(analogPin, analogRead(analogPin));
}
}
}
}

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/*
* Firmata is a generic protocol for communicating with microcontrollers
* from software on a host computer. It is intended to work with
* any host computer software package.
*
* To download a host software package, please clink on the following link
* to open the download page in your default browser.
*
* http://firmata.org/wiki/Download
*/
/* This firmware supports as many servos as possible using the Servo library
* included in Arduino 0017
*
* This example code is in the public domain.
*/
#include <Servo.h>
#include <Firmata.h>
Servo servos[MAX_SERVOS];
byte servoPinMap[TOTAL_PINS];
byte servoCount = 0;
void analogWriteCallback(byte pin, int value)
{
if (IS_PIN_DIGITAL(pin)) {
servos[servoPinMap[pin]].write(value);
}
}
void systemResetCallback()
{
servoCount = 0;
}
void setup()
{
byte pin;
Firmata.setFirmwareVersion(FIRMATA_FIRMWARE_MAJOR_VERSION, FIRMATA_FIRMWARE_MINOR_VERSION);
Firmata.attach(ANALOG_MESSAGE, analogWriteCallback);
Firmata.attach(SYSTEM_RESET, systemResetCallback);
Firmata.begin(57600);
systemResetCallback();
// attach servos from first digital pin up to max number of
// servos supported for the board
for (pin = 0; pin < TOTAL_PINS; pin++) {
if (IS_PIN_DIGITAL(pin)) {
if (servoCount < MAX_SERVOS) {
servoPinMap[pin] = servoCount;
servos[servoPinMap[pin]].attach(PIN_TO_DIGITAL(pin));
servoCount++;
}
}
}
}
void loop()
{
while (Firmata.available())
Firmata.processInput();
}

46
libraries/Firmata/examples/SimpleAnalogFirmata/SimpleAnalogFirmata.ino Normal file
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/*
* Firmata is a generic protocol for communicating with microcontrollers
* from software on a host computer. It is intended to work with
* any host computer software package.
*
* To download a host software package, please clink on the following link
* to open the download page in your default browser.
*
* http://firmata.org/wiki/Download
*/
/* Supports as many analog inputs and analog PWM outputs as possible.
*
* This example code is in the public domain.
*/
#include <Firmata.h>
byte analogPin = 0;
void analogWriteCallback(byte pin, int value)
{
if (IS_PIN_PWM(pin)) {
pinMode(PIN_TO_DIGITAL(pin), OUTPUT);
analogWrite(PIN_TO_PWM(pin), value);
}
}
void setup()
{
Firmata.setFirmwareVersion(FIRMATA_FIRMWARE_MAJOR_VERSION, FIRMATA_FIRMWARE_MINOR_VERSION);
Firmata.attach(ANALOG_MESSAGE, analogWriteCallback);
Firmata.begin(57600);
}
void loop()
{
while (Firmata.available()) {
Firmata.processInput();
}
// do one analogRead per loop, so if PC is sending a lot of
// analog write messages, we will only delay 1 analogRead
Firmata.sendAnalog(analogPin, analogRead(analogPin));
analogPin = analogPin + 1;
if (analogPin >= TOTAL_ANALOG_PINS) analogPin = 0;
}

72
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/*
* Firmata is a generic protocol for communicating with microcontrollers
* from software on a host computer. It is intended to work with
* any host computer software package.
*
* To download a host software package, please clink on the following link
* to open the download page in your default browser.
*
* http://firmata.org/wiki/Download
*/
/* Supports as many digital inputs and outputs as possible.
*
* This example code is in the public domain.
*/
#include <Firmata.h>
byte previousPIN[TOTAL_PORTS]; // PIN means PORT for input
byte previousPORT[TOTAL_PORTS];
void outputPort(byte portNumber, byte portValue)
{
// only send the data when it changes, otherwise you get too many messages!
if (previousPIN[portNumber] != portValue) {
Firmata.sendDigitalPort(portNumber, portValue);
previousPIN[portNumber] = portValue;
}
}
void setPinModeCallback(byte pin, int mode) {
if (IS_PIN_DIGITAL(pin)) {
pinMode(PIN_TO_DIGITAL(pin), mode);
}
}
void digitalWriteCallback(byte port, int value)
{
byte i;
byte currentPinValue, previousPinValue;
if (port < TOTAL_PORTS && value != previousPORT[port]) {
for (i = 0; i < 8; i++) {
currentPinValue = (byte) value & (1 << i);
previousPinValue = previousPORT[port] & (1 << i);
if (currentPinValue != previousPinValue) {
digitalWrite(i + (port * 8), currentPinValue);
}
}
previousPORT[port] = value;
}
}
void setup()
{
Firmata.setFirmwareVersion(FIRMATA_FIRMWARE_MAJOR_VERSION, FIRMATA_FIRMWARE_MINOR_VERSION);
Firmata.attach(DIGITAL_MESSAGE, digitalWriteCallback);
Firmata.attach(SET_PIN_MODE, setPinModeCallback);
Firmata.begin(57600);
}
void loop()
{
byte i;
for (i = 0; i < TOTAL_PORTS; i++) {
outputPort(i, readPort(i, 0xff));
}
while (Firmata.available()) {
Firmata.processInput();
}
}

458
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GNU LESSER GENERAL PUBLIC LICENSE
Version 2.1, February 1999
Copyright (C) 1991, 1999 Free Software Foundation, Inc.
51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
Everyone is permitted to copy and distribute verbatim copies
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/*
Firmata is a generic protocol for communicating with microcontrollers
from software on a host computer. It is intended to work with
any host computer software package.
To download a host software package, please clink on the following link
to open the list of Firmata client libraries 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) 2009-2015 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 by Jeff Hoefs: December 26th, 2015
*/
#include <Servo.h>
#include <Wire.h>
#include <Firmata.h>
#define I2C_WRITE B00000000
#define I2C_READ B00001000
#define I2C_READ_CONTINUOUSLY B00010000
#define I2C_STOP_READING B00011000
#define I2C_READ_WRITE_MODE_MASK B00011000
#define 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 pinConfig[TOTAL_PINS]; // configuration of every pin
byte portConfigInputs[TOTAL_PORTS]; // each bit: 1 = pin in INPUT, 0 = anything else
int pinState[TOTAL_PINS]; // any value that has been written
/* timer variables */
unsigned long currentMillis; // store the current value from millis()
unsigned long previousMillis; // for comparison with currentMillis
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[32];
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;
/* 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 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");
}
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 (pinConfig[pin] == PIN_MODE_IGNORE)
return;
if (pinConfig[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));
}
}
pinState[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
}
pinConfig[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
pinConfig[pin] = INPUT;
}
break;
case PIN_MODE_PULLUP:
if (IS_PIN_DIGITAL(pin)) {
pinMode(PIN_TO_DIGITAL(pin), INPUT_PULLUP);
pinConfig[pin] = PIN_MODE_PULLUP;
pinState[pin] = 1;
}
break;
case OUTPUT:
if (IS_PIN_DIGITAL(pin)) {
digitalWrite(PIN_TO_DIGITAL(pin), LOW); // disable PWM
pinMode(PIN_TO_DIGITAL(pin), OUTPUT);
pinConfig[pin] = OUTPUT;
}
break;
case PIN_MODE_PWM:
if (IS_PIN_PWM(pin)) {
pinMode(PIN_TO_PWM(pin), OUTPUT);
analogWrite(PIN_TO_PWM(pin), 0);
pinConfig[pin] = PIN_MODE_PWM;
}
break;
case PIN_MODE_SERVO:
if (IS_PIN_DIGITAL(pin)) {
pinConfig[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
pinConfig[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
}
/*
* 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 (pinConfig[pin] == OUTPUT) {
pinState[pin] = value;
digitalWrite(PIN_TO_DIGITAL(pin), value);
}
}
}
void analogWriteCallback(byte pin, int value)
{
if (pin < TOTAL_PINS) {
switch (pinConfig[pin]) {
case PIN_MODE_SERVO:
if (IS_PIN_DIGITAL(pin))
servos[servoPinMap[pin]].write(value);
pinState[pin] = value;
break;
case PIN_MODE_PWM:
if (IS_PIN_PWM(pin))
analogWrite(PIN_TO_PWM(pin), value);
pinState[pin] = value;
break;
}
}
}
void digitalWriteCallback(byte port, int value)
{
byte pin, lastPin, 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 (pinConfig[pin] == OUTPUT || pinConfig[pin] == INPUT) {
pinValue = ((byte)value & mask) ? 1 : 0;
if (pinConfig[pin] == OUTPUT) {
pinWriteMask |= mask;
} else if (pinConfig[pin] == INPUT && pinValue == 1 && pinState[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
}
pinState[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 (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
}
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((byte)pinConfig[pin]);
Firmata.write((byte)pinState[pin] & 0x7F);
if (pinState[pin] & 0xFF80) Firmata.write((byte)(pinState[pin] >> 7) & 0x7F);
if (pinState[pin] & 0xC000) Firmata.write((byte)(pinState[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;
}
}
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;
}
/*==============================================================================
* 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;
}
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);
// then comment out or remove lines 701 - 704 below
Firmata.begin(57600);
while (!Serial) {
; // wait for serial port to connect. Needed for ATmega32u4-based boards and Arduino 101
}
systemResetCallback(); // reset to default config
}
/*==============================================================================
* LOOP()
*============================================================================*/
void loop()
{
byte pin, analogPin;
/* DIGITALREAD - as fast as possible, check for changes and output them to the
* FTDI buffer using Serial.print() */
checkDigitalInputs();
/* 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) && pinConfig[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);
}
}
}
}

458
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@ -0,0 +1,458 @@
GNU LESSER GENERAL PUBLIC LICENSE
Version 2.1, February 1999
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51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
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libraries/Firmata/examples/StandardFirmataChipKIT/StandardFirmataChipKIT.ino Normal file
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/*
Firmata is a generic protocol for communicating with microcontrollers
from software on a host computer. It is intended to work with
any host computer software package.
To download a host software package, please clink on the following link
to open the list of Firmata client libraries 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) 2009-2015 Jeff Hoefs. All rights reserved.
Copyright (C) 2015 Brian Schmalz. 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 by Jeff Hoefs: December 26th, 2015
*/
#include <SoftPWMServo.h> // Gives us PWM and Servo on every pin
#include <Wire.h>
#include <Firmata.h>
#define I2C_WRITE B00000000
#define I2C_READ B00001000
#define I2C_READ_CONTINUOUSLY B00010000
#define I2C_STOP_READING B00011000
#define I2C_READ_WRITE_MODE_MASK B00011000
#define 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 pinConfig[TOTAL_PINS]; // configuration of every pin
byte portConfigInputs[TOTAL_PORTS]; // each bit: 1 = pin in INPUT, 0 = anything else
int pinState[TOTAL_PINS]; // any value that has been written
/* timer variables */
unsigned long currentMillis; // store the current value from millis()
unsigned long previousMillis; // for comparison with currentMillis
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[32];
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;
/* 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 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");
}
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)
{
if (pinConfig[pin] == PIN_MODE_IGNORE)
return;
if (pinConfig[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));
}
}
pinState[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
}
pinConfig[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
pinConfig[pin] = INPUT;
}
break;
case PIN_MODE_PULLUP:
if (IS_PIN_DIGITAL(pin)) {
pinMode(PIN_TO_DIGITAL(pin), INPUT_PULLUP);
pinConfig[pin] = PIN_MODE_PULLUP;
pinState[pin] = 1;
}
break;
case OUTPUT:
if (IS_PIN_DIGITAL(pin)) {
digitalWrite(PIN_TO_DIGITAL(pin), LOW); // disable PWM
pinMode(PIN_TO_DIGITAL(pin), OUTPUT);
pinConfig[pin] = OUTPUT;
}
break;
case PIN_MODE_PWM:
if (IS_PIN_PWM(pin)) {
pinMode(PIN_TO_PWM(pin), OUTPUT);
servoWrite(PIN_TO_PWM(pin), 0);
pinConfig[pin] = PIN_MODE_PWM;
}
break;
case PIN_MODE_SERVO:
if (IS_PIN_DIGITAL(pin)) {
pinConfig[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
pinConfig[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
}
/*
* 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 (pinConfig[pin] == OUTPUT) {
pinState[pin] = value;
digitalWrite(PIN_TO_DIGITAL(pin), value);
}
}
}
void analogWriteCallback(byte pin, int value)
{
if (pin < TOTAL_PINS) {
switch (pinConfig[pin]) {
case PIN_MODE_SERVO:
if (IS_PIN_DIGITAL(pin))
servos[servoPinMap[pin]].write(value);
pinState[pin] = value;
break;
case PIN_MODE_PWM:
if (IS_PIN_PWM(pin))
servoWrite(PIN_TO_PWM(pin), value);
pinState[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 (pinConfig[pin] == OUTPUT || pinConfig[pin] == INPUT) {
pinValue = ((byte)value & mask) ? 1 : 0;
if (pinConfig[pin] == OUTPUT) {
pinWriteMask |= mask;
} else if (pinConfig[pin] == INPUT && pinValue == 1 && pinState[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
}
pinState[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 (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
}
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((byte)pinConfig[pin]);
Firmata.write((byte)pinState[pin] & 0x7F);
if (pinState[pin] & 0xFF80) Firmata.write((byte)(pinState[pin] >> 7) & 0x7F);
if (pinState[pin] & 0xC000) Firmata.write((byte)(pinState[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;
}
}
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;
}
/*==============================================================================
* 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;
}
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);
/* For chipKIT Pi board, we need to use Serial1. All others just use Serial. */
#if defined(_BOARD_CHIPKIT_PI_)
Serial1.begin(57600);
Firmata.begin(Serial1);
#else
Firmata.begin(57600);
#endif
systemResetCallback(); // reset to default config
}
/*==============================================================================
* LOOP()
*============================================================================*/
void loop()
{
byte pin, analogPin;
/* DIGITALREAD - as fast as possible, check for changes and output them to the
* FTDI buffer using Serial.print() */
checkDigitalInputs();
/* 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) && pinConfig[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);
}
}
}
}

458
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View File

@ -0,0 +1,458 @@
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16. IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN
WRITING WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MAY MODIFY
AND/OR REDISTRIBUTE THE LIBRARY AS PERMITTED ABOVE, BE LIABLE TO YOU
FOR DAMAGES, INCLUDING ANY GENERAL, SPECIAL, INCIDENTAL OR
CONSEQUENTIAL DAMAGES ARISING OUT OF THE USE OR INABILITY TO USE THE
LIBRARY (INCLUDING BUT NOT LIMITED TO LOSS OF DATA OR DATA BEING
RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD PARTIES OR A
FAILURE OF THE LIBRARY TO OPERATE WITH ANY OTHER SOFTWARE), EVEN IF
SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH
DAMAGES.

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/*
Firmata is a generic protocol for communicating with microcontrollers
from software on a host computer. It is intended to work with
any host computer software package.
To download a host software package, please clink on the following link
to open the list of Firmata client libraries 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) 2009-2015 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 by Jeff Hoefs: December 26th, 2015
*/
/*
README
To use StandardFirmataEthernet you will need to have one of the following
boards or shields:
- Arduino Ethernet shield (or clone)
- Arduino Ethernet board (or clone)
- Arduino Yun
Follow the instructions in the NETWORK CONFIGURATION section below to
configure your particular hardware.
NOTE: If you are using an Arduino Ethernet shield you cannot use the following pins on
the following boards. Firmata will ignore any requests to use these pins:
- Arduino Uno or other ATMega328 boards: (D4, D10, D11, D12, D13)
- Arduino Mega: (D4, D10, D50, D51, D52, D53)
- Arduino Leonardo: (D4, D10)
- Arduino Due: (D4, D10)
If you are using an ArduinoEthernet board, the following pins cannot be used (same as Uno):
- D4, D10, D11, D12, D13
*/
#include <Servo.h>
#include <Wire.h>
#include <Firmata.h>
//#define SERIAL_DEBUG
#include "utility/firmataDebug.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
/*==============================================================================
* NETWORK CONFIGURATION
*
* You must configure your particular hardware. Follow the steps below.
*============================================================================*/
// STEP 1 [REQUIRED]
// Uncomment / comment the appropriate set of includes for your hardware (OPTION A or B)
// Option A is enabled by default.
/*
* OPTION A: Configure for Arduino Ethernet board or shield
*
* To configure StandardFirmataEthernet to use the original WIZ5100-based
* ethernet shield or Arduino Ethernet uncomment the includes of 'SPI.h' and 'Ethernet.h':
*/
#include <SPI.h>
#include <Ethernet.h>
/*
* OPTION B: Configure for Arduin Yun
*
* To execute StandardFirmataEthernet on Yun uncomment Bridge.h and YunClient.h.
* Do not include Ethernet.h or SPI.h above in this case.
* On Yun there's no need to configure local_ip and mac in the sketch
* as this is configured on the linux-side of Yun.
*/
// #include <Bridge.h>
// #include <YunClient.h>
// STEP 2 [REQUIRED for all boards and shields]
// replace with IP of the server you want to connect to, comment out if using 'remote_host'
#define remote_ip IPAddress(10, 0, 0, 3)
// *** REMOTE HOST IS NOT YET WORKING ***
// replace with hostname of server you want to connect to, comment out if using 'remote_ip'
// #define remote_host "server.local"
// STEP 3 [REQUIRED unless using Arduin Yun]
// Replace with the port that your server is listening on
#define remote_port 3030
// STEP 4 [REQUIRED unless using Arduino Yun OR if not using DHCP]
// Replace with your board or ethernet shield's IP address
// Comment out if you want to use DHCP
#define local_ip IPAddress(10, 0, 0, 15)
// STEP 5 [REQUIRED unless using Arduino Yun]
// replace with ethernet shield mac. Must be unique for your network
const byte mac[] = {0x90, 0xA2, 0xDA, 0x00, 0x53, 0xE5};
// Since Arduino 1.6.6 ethernet_h is not recognized, even when Ethernet.h is included so this
// always throws the error. Commenting out until the issue introduced in Arduino 1.6.6 is resolved.
// #if !defined ethernet_h && !defined _YUN_CLIENT_H_
// #error "you must uncomment the includes for your board configuration. See OPTIONS A and B in the NETWORK CONFIGURATION SECTION"
// #endif
#if defined remote_ip && defined remote_host
#error "cannot define both remote_ip and remote_host at the same time!"
#endif
/*==============================================================================
* GLOBAL VARIABLES
*============================================================================*/
/* network */
#include "utility/EthernetClientStream.h"
#ifdef _YUN_CLIENT_H_
YunClient client;
#else
EthernetClient client;
#endif
#if defined remote_ip && !defined remote_host
#ifdef local_ip
EthernetClientStream stream(client, local_ip, remote_ip, NULL, remote_port);
#else
EthernetClientStream stream(client, IPAddress(0, 0, 0, 0), remote_ip, NULL, remote_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, remote_port);
#else
EthernetClientStream stream(client, IPAddress(0, 0, 0, 0), IPAddress(0, 0, 0, 0), remote_host, remote_port);
#endif
#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 pinConfig[TOTAL_PINS]; // configuration of every pin
byte portConfigInputs[TOTAL_PORTS]; // each bit: 1 = pin in INPUT, 0 = anything else
int pinState[TOTAL_PINS]; // any value that has been written
/* timer variables */
unsigned long currentMillis; // store the current value from millis()
unsigned long previousMillis; // for comparison with currentMillis
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[32];
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;
/* 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 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");
}
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 (pinConfig[pin] == PIN_MODE_IGNORE)
return;
if (pinConfig[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));
}
}
pinState[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
}
pinConfig[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
pinConfig[pin] = INPUT;
}
break;
case PIN_MODE_PULLUP:
if (IS_PIN_DIGITAL(pin)) {
pinMode(PIN_TO_DIGITAL(pin), INPUT_PULLUP);
pinConfig[pin] = PIN_MODE_PULLUP;
pinState[pin] = 1;
}
break;
case OUTPUT:
if (IS_PIN_DIGITAL(pin)) {
digitalWrite(PIN_TO_DIGITAL(pin), LOW); // disable PWM
pinMode(PIN_TO_DIGITAL(pin), OUTPUT);
pinConfig[pin] = OUTPUT;
}
break;
case PIN_MODE_PWM:
if (IS_PIN_PWM(pin)) {
pinMode(PIN_TO_PWM(pin), OUTPUT);
analogWrite(PIN_TO_PWM(pin), 0);
pinConfig[pin] = PIN_MODE_PWM;
}
break;
case PIN_MODE_SERVO:
if (IS_PIN_DIGITAL(pin)) {
pinConfig[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
pinConfig[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
}
/*
* 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 (pinConfig[pin] == OUTPUT) {
pinState[pin] = value;
digitalWrite(PIN_TO_DIGITAL(pin), value);
}
}
}
void analogWriteCallback(byte pin, int value)
{
if (pin < TOTAL_PINS) {
switch (pinConfig[pin]) {
case PIN_MODE_SERVO:
if (IS_PIN_DIGITAL(pin))
servos[servoPinMap[pin]].write(value);
pinState[pin] = value;
break;
case PIN_MODE_PWM:
if (IS_PIN_PWM(pin))
analogWrite(PIN_TO_PWM(pin), value);
pinState[pin] = value;
break;
}
}
}
void digitalWriteCallback(byte port, int value)
{
byte pin, lastPin, 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 (pinConfig[pin] == OUTPUT || pinConfig[pin] == INPUT) {
pinValue = ((byte)value & mask) ? 1 : 0;
if (pinConfig[pin] == OUTPUT) {
pinWriteMask |= mask;
} else if (pinConfig[pin] == INPUT && pinValue == 1 && pinState[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
}
pinState[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 I2C 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 (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
}
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((byte)pinConfig[pin]);
Firmata.write((byte)pinState[pin] & 0x7F);
if (pinState[pin] & 0xFF80) Firmata.write((byte)(pinState[pin] >> 7) & 0x7F);
if (pinState[pin] & 0xC000) Firmata.write((byte)(pinState[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;
}
}
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;
}
/*==============================================================================
* 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;
}
void setup()
{
DEBUG_BEGIN(9600);
#ifdef _YUN_CLIENT_H_
Bridge.begin();
#else
#ifdef local_ip
Ethernet.begin((uint8_t *)mac, local_ip); //start ethernet
#else
Ethernet.begin((uint8_t *)mac); //start ethernet using dhcp
#endif
#endif
DEBUG_PRINTLN("connecting...");
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);
// StandardFirmataEthernet communicates with Ethernet shields over SPI. Therefor all
// SPI pins must be set to IGNORE. Otherwise Firmata would break SPI communication.
// add Pin 10 and configure pin 53 as output if using a MEGA with an Ethernet shield.
// ignore SPI and pin 4 that is SS for SD-Card on Ethernet-shield
for (byte i = 0; i < TOTAL_PINS; i++) {
if (IS_PIN_SPI(i)
|| 4 == i // SD-Card on Ethernet-shiedl uses pin 4 for SS
|| 10 == i // Ethernet-shield uses pin 10 for SS
#if defined(__AVR_ATmega32U4__)
|| 24 == i // On Leonardo, pin 24 maps to D4 and pin 28 maps to D10
|| 28 == i
#endif
) {
pinConfig[i] = PIN_MODE_IGNORE;
}
}
// Arduino Ethernet, Arduino EthernetShield and Arduino Yun all have SD SS wired to D4
pinMode(PIN_TO_DIGITAL(4), OUTPUT); // switch off SD card bypassing Firmata
digitalWrite(PIN_TO_DIGITAL(4), HIGH); // SS is active low;
#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
pinMode(PIN_TO_DIGITAL(53), OUTPUT); // configure hardware SS as output on MEGA
#endif
// start up Network Firmata:
Firmata.begin(stream);
systemResetCallback(); // reset to default config
}
/*==============================================================================
* LOOP()
*============================================================================*/
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) && pinConfig[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);
}
}
}
#if !defined local_ip && !defined _YUN_CLIENT_H_
if (Ethernet.maintain())
{
stream.maintain(Ethernet.localIP());
}
#endif
}

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GNU LESSER GENERAL PUBLIC LICENSE
Version 2.1, February 1999
Copyright (C) 1991, 1999 Free Software Foundation, Inc.
51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
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GNU LESSER GENERAL PUBLIC LICENSE
Version 2.1, February 1999
Copyright (C) 1991, 1999 Free Software Foundation, Inc.
51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
Everyone is permitted to copy and distribute verbatim copies
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FIRMATA 2.5.1 - Dec 26, 2015
[core library]
* Added support for Arduino 101
* Make VERSION_BLINK_PIN optional
* Separate protocol version from firmware version.
Use FIRMATA_PROTOCOL_VERSION_[MAJOR/MINOR/BUGFIX] for protocol and use
FIRMATA_FIRMWARE_VERSION_[MAJOR/MINOR/BUGFIX] for firmware (library version).
[StandardFirmata & variants]
* Added ability to auto-restart I2C transmission by setting bit 6 of byte 3
of the I2C_REQUEST message.
FIRMATA 2.5.0 - Nov 7, 2015
[core library]
* Added Serial feature for interfacing with serial devices via hardware
or software serial. See github.com/firmata/protocol/serial.md for details
* Added ability to set the value of a pin by sending a single value instead
of a port value. See 'set digital pin value' in github.com/firmata/protocol/protocol.md
for details
* Added support for Arduino Zero board
* Added support for Teensy LC board (copied from Teensy Firmata lib)
* Added support for Pinoccio Scout board (Pawel Szymczykowski)
* Lowered minimun sampling interval from 10 to 1 millisecond
* Added new pin mode (PIN_MODE_PULLUP) for setting the INPUT_PULLUP pin mode
* Changed pin mode defines to safer names (old names still included but
deprecated) - see Firmata.h
[StandardFirmata & variants]
* Created new StandardFirmataPlus that implements the Serial feature
Note: The new Serial features is only implemented in the "Plus" versions of
StandardFirmata.
* Created new StandardFirmataEthernetPlus that implements the Serial feature
* Fixed issue where StandardFirmata was not compiling for Intel Galileo boards
* Moved StandardFirmataYun to its own repo (github.com/firmata/StandardFirmataYun)
FIRMATA 2.4.4 - Aug 9, 2015
[core library]
* Added support for chipKIT boards (Brian Schmalz, Rick Anderson and Keith Vogel)
* Added support for ATmega328 boards (previously only ATmega328p was supported)
[StandardFirmata]
* Added StandardFirmataChipKIT for ChipKIT boards (Brian Schmalz, Rick Anderson and Keith Vogel)
* Ensure Serial is ready on Leonardo and other ATMega32u4-based boards
FIRMATA 2.4.3 - Apr 11, 2015
[core library]
* Added debug macros (utility/firmataDebug.h)
* Added Norbert Truchsess' EthernetClientStream lib from the configurable branch
[examples]
* Added StandardFirmataEthernet to enable Firmata over Ethernet
* Minor updates to StandardFirmata and StandardFirmataYun
FIRMATA 2.4.2 - Mar 16, 2015
[core library]
* Add support for Teesy 3.1 (Olivier Louvignes)
FIRMATA 2.4.1 - Feb 7, 2015
[core library]
* Fixed off-by-one bug in setFirmwareNameAndVersion (Brian Schmalz)
[StandardFirmata]
* Prevent analog values from being reported during system reset
FIRMATA 2.4.0 - Dec 21, 2014
Changes from 2.3.6 to 2.4 that may impact existing Firmata client implementations:
* When sending a string from the client application to the board (STRING_DATA) a
static buffer is now used for the incoming string in place of a dynamically allocated
block of memory (see Firmata.cpp lines 181 - 205). In Firmata 2.3.6 and older,
the dynamically allocated block was never freed, causing a memory leak. If your
client library had freed this memory in the string callback method, that code
will break in Firmata 2.4. If the string data needs to persist beyond the string
callback, it should be copied within the string callback.
* As of Firmata 2.4, when digital port reporting or analog pin reporting is enabled,
the value of the port (digital) or pin (analog) is immediately sent back to the client
application. This will likely not have a negative impact on existing client
implementations, but may be unexpected. This feature was added to better support
non-serial streams (such as Ethernet, Wi-Fi, Bluetooth, etc) that may lose
connectivity and need a quick way to get the current state of the pins upon
reestablishing a connection.
[core library]
* Changed sendValueAsTwo7bitBytes, startSysex and endSysex from private to
public methods.
* Added Intel Galileo to Boards.h
* Renamed FirmataSerial to FirmataStream
* Updated to latest Arduino library format
* writePort function in Boards.h now returns 1 (to suppress compiler warning)
* Updated syntax highlighting (keywords.txt)
* Fixed IS_PIN_SPI ifndef condition in boards.h
* Added constants to Firmata.h to reserve configurable firmata features
* Fixed issue where firmwareName was not reported correctly in Windows
* Ensure incoming String via STRING_DATA command is null-terminated
* Fixed memory leak when receiving String via STRING_DATA command
(note this change may break existing code if you were manually deallocating
the incoming string in your string callback function. See code for details)
* Added ability for user to specify a filename when calling setFirmwareNameAndVersion
* Increased input data buffer size from 32 to 64 bytes
[StandardFirmata]
* Updated I2C_READ_CONTINUOUSLY to work with or without slaveRegister (Rick Waldron)
* Added Yun variant of StandardFirmata
* When a digital port is enabled, its value is now immediately sent to the client
* When an analog pin is enabled, its value is now immediately sent to the client
* Changed the way servo pins are mapped to enable use of servos on
a wider range of pins, including analog pins.
* Fixed management of unexpected sized I2C replies (Nahuel Greco)
* Fixed a bug when removing a monitored device with I2C_STOP_Reading (Nahuel Greco)
* Fixed conditional expression in I2C_STOP_READING case
* Changed samplingInterval from type int to type unsigned int
* Shortened error message strings to save a few bytes
[examples]
* Updated FirmataServo example to use new pin mapping technique
* Removed makefiles from examples (because they were not being updated)
* Updated all examples to set current firmware version
FIRMATA 2.3.6 - Jun 18, 2013 (Version included with Arduino core libraries)
[core library]
* Fixed bug introduced in 2.3.5 that broke ability to use Ethernet.
FIRMATA 2.3.5 - May 21, 2013
[core library]
* Added Arduino Due to Boards.h
* Added Teensy 3.0 to Boards.h
* Updated unit tests to use ArduinoUnit v2.0
* Renamed pin13strobe to strobeBlinkPin
* Removed blinkVersion method from begin method for non-serial streams
* Fixed memory leak in setting firmware version (Matthew Murdoch)
* Added unit tests for a few core functions (Matthew Murdoch)
* Added IS_PIN_SPI macro to all board definitions in Board.h (Norbert Truchsess)
FIRMATA 2.3.4 - Feb 11, 2013
[core library]
* Fixed Stream implementation so Firmata can be used with Streams other than
Serial (Norbert Truchsess)
FIRMATA 2.3.3 - Oct 6, 2012
[core library]
* Added write method to expose FirmataSerial.write
* Added Arduino Leonardo to Boards.h
[StandardFirmata]
* Changed all instances of Serial.write to Firmata.write
* Fixed delayMicroseconds(0) bug in readAndReportData
FIRMATA 2.3.0 - 2.3.2
* Removed angle from servo config
* Changed file extensions from .pde to .ino
* Added MEGA2560 to Boards.h
* Added I2C pins to Boards.h
* Modified examples to be compatible with Arduino 0022 and 1.0 or greater
* Removed I2CFirmata example
* Changes to StandardFirmata
* Added I2C support
* Added system reset message to reset all pins to default config on sysex reset
FIRMATA 2.2 (changes prior to Firmata 2.3.0 were not well documented)
* changes undocumented
FIRMATA 2.1
* added support for changing the sampling interval
* added Servo support
FIRMATA 2.0
* changed to 8-bit port-based digital messages to mirror ports from previous 14-bit ports modeled after the standard Arduino board.
* switched order of version message so major version is reported first
FIRMATA 1.0
* switched to MIDI-compatible packet format (though the message interpretation differs)

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#######################################
# Syntax Coloring Map For Firmata
#######################################
#######################################
# Datatypes (KEYWORD1)
#######################################
Firmata KEYWORD1 Firmata
callbackFunction KEYWORD1 callbackFunction
systemResetCallbackFunction KEYWORD1 systemResetCallbackFunction
stringCallbackFunction KEYWORD1 stringCallbackFunction
sysexCallbackFunction KEYWORD1 sysexCallbackFunction
#######################################
# Methods and Functions (KEYWORD2)
#######################################
begin KEYWORD2
printVersion KEYWORD2
blinkVersion KEYWORD2
printFirmwareVersion KEYWORD2
setFirmwareVersion KEYWORD2
setFirmwareNameAndVersion KEYWORD2
available KEYWORD2
processInput KEYWORD2
sendAnalog KEYWORD2
sendDigital KEYWORD2
sendDigitalPort KEYWORD2
sendString KEYWORD2
sendSysex KEYWORD2
attach KEYWORD2
detach KEYWORD2
write KEYWORD2
sendValueAsTwo7bitBytes KEYWORD2
startSysex KEYWORD2
endSysex KEYWORD2
writePort KEYWORD2
readPort KEYWORD2
#######################################
# Constants (LITERAL1)
#######################################
FIRMATA_MAJOR_VERSION LITERAL1
FIRMATA_MINOR_VERSION LITERAL1
FIRMATA_BUGFIX_VERSION LITERAL1
MAX_DATA_BYTES LITERAL1
DIGITAL_MESSAGE LITERAL1
ANALOG_MESSAGE LITERAL1
REPORT_ANALOG LITERAL1
REPORT_DIGITAL LITERAL1
REPORT_VERSION LITERAL1
SET_PIN_MODE LITERAL1
SET_DIGITAL_PIN_VALUE LITERAL1
SYSTEM_RESET LITERAL1
START_SYSEX LITERAL1
END_SYSEX LITERAL1
REPORT_FIRMWARE LITERAL1
STRING_DATA LITERAL1
PIN_MODE_ANALOG LITERAL1
PIN_MODE_PWM LITERAL1
PIN_MODE_SERVO LITERAL1
PIN_MODE_SHIFT LITERAL1
PIN_MODE_I2C LITERAL1
PIN_MODE_ONEWIRE LITERAL1
PIN_MODE_STEPPER LITERAL1
PIN_MODE_ENCODER LITERAL1
PIN_MODE_SERIAL LITERAL1
PIN_MODE_PULLUP LITERAL1
PIN_MODE_IGNORE LITERAL1
TOTAL_PINS LITERAL1
TOTAL_ANALOG_PINS LITERAL1
TOTAL_DIGITAL_PINS LITERAL1
TOTAL_PIN_MODES LITERAL1
TOTAL_PORTS LITERAL1
ANALOG_PORT LITERAL1
MAX_SERVOS LITERAL1

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name=Firmata
version=2.5.1
author=Firmata Developers
maintainer=https://github.com/firmata/arduino
sentence=Enables the communication with computer apps using a standard serial protocol. For all Arduino boards.
paragraph=The Firmata library implements the Firmata protocol for communicating with software on the host computer. This allows you to write custom firmware without having to create your own protocol and objects for the programming environment that you are using.
category=Device Control
url=https://github.com/firmata/arduino
architectures=*

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#Firmata
[![Gitter](https://badges.gitter.im/Join Chat.svg)](https://gitter.im/firmata/arduino?utm_source=badge&utm_medium=badge&utm_campaign=pr-badge&utm_content=badge)
Firmata is a protocol for communicating with microcontrollers from software on a host computer. The [protocol](https://github.com/firmata/protocol) can be implemented in firmware on any microcontroller architecture as well as software on any host computer software package. The Arduino repository described here is a Firmata library for Arduino and Arduino-compatible devices. If you would like to contribute to Firmata, please see the [Contributing](#contributing) section below.
##Usage
There are two main models of usage of Firmata. In one model, the author of the Arduino sketch uses the various methods provided by the Firmata library to selectively send and receive data between the Arduino device and the software running on the host computer. For example, a user can send analog data to the host using ``` Firmata.sendAnalog(analogPin, analogRead(analogPin)) ``` or send data packed in a string using ``` Firmata.sendString(stringToSend) ```. See File -> Examples -> Firmata -> AnalogFirmata & EchoString respectively for examples.
The second and more common model is to load a general purpose sketch called StandardFirmata (or one of the variants such as StandardFirmataPlus or StandardFirmataEthernet depending on your needs) on the Arduino board and then use the host computer exclusively to interact with the Arduino board. StandardFirmata is located in the Arduino IDE in File -> Examples -> Firmata.
##Firmata Client Libraries
Most of the time you will be interacting with Arduino with a client library on the host computers. Several Firmata client libraries have been implemented in a variety of popular programming languages:
* processing
* [https://github.com/firmata/processing]
* [http://funnel.cc]
* python
* [https://github.com/MrYsLab/pymata-aio]
* [https://github.com/MrYsLab/PyMata]
* [https://github.com/tino/pyFirmata]
* [https://github.com/lupeke/python-firmata]
* [https://github.com/firmata/pyduino]
* perl
* [https://github.com/ntruchsess/perl-firmata]
* [https://github.com/rcaputo/rx-firmata]
* ruby
* [https://github.com/hardbap/firmata]
* [https://github.com/PlasticLizard/rufinol]
* [http://funnel.cc]
* clojure
* [https://github.com/nakkaya/clodiuno]
* [https://github.com/peterschwarz/clj-firmata]
* javascript
* [https://github.com/jgautier/firmata]
* [https://github.com/rwldrn/johnny-five]
* [http://breakoutjs.com]
* java
* [https://github.com/kurbatov/firmata4j]
* [https://github.com/4ntoine/Firmata]
* .NET
* [https://github.com/SolidSoils/Arduino]
* [http://www.imagitronics.org/projects/firmatanet/]
* Flash/AS3
* [http://funnel.cc]
* [http://code.google.com/p/as3glue/]
* PHP
* [https://bitbucket.org/ThomasWeinert/carica-firmata]
* [https://github.com/oasynnoum/phpmake_firmata]
* Haskell
* [http://hackage.haskell.org/package/hArduino]
* iOS
* [https://github.com/jacobrosenthal/iosfirmata]
* Dart
* [https://github.com/nfrancois/firmata]
* Max/MSP
* [http://www.maxuino.org/]
Note: The above libraries may support various versions of the Firmata protocol and therefore may not support all features of the latest Firmata spec nor all Arduino and Arduino-compatible boards. Refer to the respective projects for details.
##Updating Firmata in the Arduino IDE - Arduino 1.6.4 and higher
If you want to update to the latest stable version:
1. Open the Arduino IDE and navigate to: `Sketch > Include Library > Manage Libraries`
2. Filter by "Firmata" and click on the "Firmata by Firmata Developers" item in the list of results.
3. Click the `Select version` dropdown and select the most recent version (note you can also install previous versions)
4. Click `Install`.
###Cloning Firmata
If you are contributing to Firmata or otherwise need a version newer than the latest tagged release, you can clone Firmata directly to your Arduino/libraries/ directory (where 3rd party libraries are installed). This only works for Arduino 1.6.4 and higher, for older versions you need to clone into the Arduino application directory (see section below titled "Using the Source code rather than release archive"). Be sure to change the name to Firmata as follows:
```bash
$ git clone git@github.com:firmata/arduino.git ~/Documents/Arduino/libraries/Firmata
```
*Update path above if you're using Windows or Linux or changed the default Arduino directory on OS X*
##Updating Firmata in the Arduino IDE - older versions (<= 1.6.3 or 1.0.x)
Download the latest [release](https://github.com/firmata/arduino/releases/tag/2.5.1) (for Arduino 1.0.x or Arduino 1.5.6 or higher) and replace the existing Firmata folder in your Arduino application. See the instructions below for your platform.
*Note that Arduino 1.5.0 - 1.5.5 are not supported. Please use Arduino 1.5.6 or higher (or Arduino 1.0.5 or 1.0.6).*
###Mac OSX:
The Firmata library is contained within the Arduino package.
1. Navigate to the Arduino application
2. Right click on the application icon and select `Show Package Contents`
3. Navigate to: `/Contents/Resources/Java/libraries/` and replace the existing
`Firmata` folder with latest [Firmata release](https://github.com/firmata/arduino/releases/tag/2.5.1) (note there is a different download
for Arduino 1.0.x vs 1.6.x)
4. Restart the Arduino application and the latest version of Firmata will be available.
*If you are using the Java 7 version of Arduino 1.5.7 or higher, the file path
will differ slightly: `Contents/Java/libraries/Firmata` (no Resources directory).*
###Windows:
1. Navigate to `c:/Program\ Files/arduino-1.x/libraries/` and replace the existing
`Firmata` folder with the latest [Firmata release](https://github.com/firmata/arduino/releases/tag/2.5.1) (note there is a different download
for Arduino 1.0.x vs 1.6.x).
2. Restart the Arduino application and the latest version of Firmata will be available.
*Update the path and Arduino version as necessary*
###Linux:
1. Navigate to `~/arduino-1.x/libraries/` and replace the existing
`Firmata` folder with the latest [Firmata release](https://github.com/firmata/arduino/releases/tag/2.5.1) (note there is a different download
for Arduino 1.0.x vs 1.6.x).
2. Restart the Arduino application and the latest version of Firmata will be available.
*Update the path and Arduino version as necessary*
###Using the Source code rather than release archive (only for versions older than Arduino 1.6.3)
*It is recommended you update to Arduino 1.6.4 or higher if possible, that way you can clone directly into the external Arduino/libraries/ directory which persists between Arduino application updates. Otherwise you will need to move your clone each time you update to a newer version of the Arduino IDE.*
If you're stuck with an older version of the IDE, then follow these keep reading otherwise jump up to the "Cloning Firmata section above".
Clone this repo directly into the core Arduino application libraries directory. If you are using
Arduino 1.5.x or <= 1.6.3, the repo directory structure will not match the Arduino
library format, however it should still compile as long as you are using Arduino 1.5.7
or higher.
You will first need to remove the existing Firmata library, then clone firmata/arduino
into an empty Firmata directory:
```bash
$ rm -r /Applications/Arduino.app/Contents/Resources/Java/libraries/Firmata
$ git clone git@github.com:firmata/arduino.git /Applications/Arduino.app/Contents/Resources/Java/libraries/Firmata
```
*Update paths if you're using Windows or Linux*
To generate properly formatted versions of Firmata (for Arduino 1.0.x and Arduino 1.6.x), run the
`release.sh` script.
<a name="contributing" />
##Contributing
If you discover a bug or would like to propose a new feature, please open a new [issue](https://github.com/firmata/arduino/issues?sort=created&state=open). Due to the limited memory of standard Arduino boards we cannot add every requested feature to StandardFirmata. Requests to add new features to StandardFirmata will be evaluated by the Firmata developers. However it is still possible to add new features to other Firmata implementations (Firmata is a protocol whereas StandardFirmata is just one of many possible implementations).
To contribute, fork this repository and create a new topic branch for the bug, feature or other existing issue you are addressing. Submit the pull request against the *master* branch.
If you would like to contribute but don't have a specific bugfix or new feature to contribute, you can take on an existing issue, see issues labeled "pull-request-encouraged". Add a comment to the issue to express your intent to begin work and/or to get any additional information about the issue.
You must thoroughly test your contributed code. In your pull request, describe tests performed to ensure that no existing code is broken and that any changes maintain backwards compatibility with the existing api. Test on multiple Arduino board variants if possible. We hope to enable some form of automated (or at least semi-automated) testing in the future, but for now any tests will need to be executed manually by the contributor and reviewers.
Use [Artistic Style](http://astyle.sourceforge.net/) (astyle) to format your code. Set the following rules for the astyle formatter:
```
style = ""
indent-spaces = 2
indent-classes = true
indent-switches = true
indent-cases = true
indent-col1-comments = true
pad-oper = true
pad-header = true
keep-one-line-statements = true
```
If you happen to use Sublime Text, [this astyle plugin](https://github.com/timonwong/SublimeAStyleFormatter) is helpful. Set the above rules in the user settings file.

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#!/bin/sh
# use this script to package Firmata for distribution
# package for Arduino 1.0.x
mkdir -p temp/Firmata
cp -r examples temp/Firmata
cp -r extras temp/Firmata
cp -r utility temp/Firmata
cp Boards.h temp/Firmata
cp Firmata.cpp temp/Firmata
cp Firmata.h temp/Firmata
cp keywords.txt temp/Firmata
cp readme.md temp/Firmata
cd temp
find . -name "*.DS_Store" -type f -delete
zip -r Firmata.zip ./Firmata/
cd ..
mv ./temp/Firmata.zip Firmata-2.5.1.zip
#package for Arduino 1.6.x
cp library.properties temp/Firmata
cd temp/Firmata
mv readme.md ./extras/
mkdir src
mv Boards.h ./src/
mv Firmata.cpp ./src/
mv Firmata.h ./src/
mv utility ./src/
cd ..
find . -name "*.DS_Store" -type f -delete
zip -r Firmata.zip ./Firmata/
cd ..
mv ./temp/Firmata.zip Arduino-1.6.x-Firmata-2.5.1.zip
rm -r ./temp

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/*
* To run this test suite, you must first install the ArduinoUnit library
* to your Arduino/libraries/ directory.
* You can get ArduinoUnit here: https://github.com/mmurdoch/arduinounit
* Download version 2.0 or greater or install it via the Arduino library manager.
*/
#include <ArduinoUnit.h>
#include <Firmata.h>
void setup()
{
Serial.begin(9600);
}
void loop()
{
Test::run();
}
test(beginPrintsVersion)
{
FakeStream stream;
Firmata.begin(stream);
char expected[] = {
REPORT_VERSION,
FIRMATA_PROTOCOL_MAJOR_VERSION,
FIRMATA_PROTOCOL_MINOR_VERSION,
0
};
assertEqual(expected, stream.bytesWritten());
}
void processMessage(const byte *message, size_t length)
{
FakeStream stream;
Firmata.begin(stream);
for (size_t i = 0; i < length; i++) {
stream.nextByte(message[i]);
Firmata.processInput();
}
}
byte _digitalPort;
int _digitalPortValue;
void writeToDigitalPort(byte port, int value)
{
_digitalPort = port;
_digitalPortValue = value;
}
void setupDigitalPort()
{
_digitalPort = 0;
_digitalPortValue = 0;
}
test(processWriteDigital_0)
{
setupDigitalPort();
Firmata.attach(DIGITAL_MESSAGE, writeToDigitalPort);
byte message[] = { DIGITAL_MESSAGE, 0, 0 };
processMessage(message, 3);
assertEqual(0, _digitalPortValue);
}
test(processWriteDigital_127)
{
setupDigitalPort();
Firmata.attach(DIGITAL_MESSAGE, writeToDigitalPort);
byte message[] = { DIGITAL_MESSAGE, 127, 0 };
processMessage(message, 3);
assertEqual(127, _digitalPortValue);
}
test(processWriteDigital_128)
{
setupDigitalPort();
Firmata.attach(DIGITAL_MESSAGE, writeToDigitalPort);
byte message[] = { DIGITAL_MESSAGE, 0, 1 };
processMessage(message, 3);
assertEqual(128, _digitalPortValue);
}
test(processWriteLargestDigitalValue)
{
setupDigitalPort();
Firmata.attach(DIGITAL_MESSAGE, writeToDigitalPort);
byte message[] = { DIGITAL_MESSAGE, 0x7F, 0x7F };
processMessage(message, 3);
// Maximum of 14 bits can be set (B0011111111111111)
assertEqual(0x3FFF, _digitalPortValue);
}
test(defaultDigitalWritePortIsZero)
{
setupDigitalPort();
Firmata.attach(DIGITAL_MESSAGE, writeToDigitalPort);
byte message[] = { DIGITAL_MESSAGE, 0, 0 };
processMessage(message, 3);
assertEqual(0, _digitalPort);
}
test(specifiedDigitalWritePort)
{
setupDigitalPort();
Firmata.attach(DIGITAL_MESSAGE, writeToDigitalPort);
byte message[] = { DIGITAL_MESSAGE + 1, 0, 0 };
processMessage(message, 3);
assertEqual(1, _digitalPort);
}
test(setFirmwareVersionDoesNotLeakMemory)
{
Firmata.setFirmwareVersion(1, 0);
int initialMemory = freeMemory();
Firmata.setFirmwareVersion(1, 0);
assertEqual(0, initialMemory - freeMemory());
}

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#Testing Firmata
Tests tests are written using the [ArduinoUnit](https://github.com/mmurdoch/arduinounit) library (version 2.0).
Follow the instructions in the [ArduinoUnit readme](https://github.com/mmurdoch/arduinounit/blob/master/readme.md) to install the library.
Compile and upload the test sketch as you would any other sketch. Then open the
Serial Monitor to view the test results.
If you make changes to Firmata.cpp, run the tests in /test/ to ensure
that your changes have not produced any unexpected errors.
You should also perform manual tests against actual hardware.

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/*
EthernetClientStream.cpp
An Arduino-Stream that wraps an instance of Client reconnecting to
the remote-ip in a transparent way. A disconnected client may be
recognized by the returnvalues -1 from calls to peek or read and
a 0 from calls to write.
Copyright (C) 2013 Norbert Truchsess. All rights reserved.
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
See file LICENSE.txt for further informations on licensing terms.
formatted using the GNU C formatting and indenting
*/
#include "EthernetClientStream.h"
#include <Arduino.h>
//#define SERIAL_DEBUG
#include "firmataDebug.h"
#define MILLIS_RECONNECT 5000
EthernetClientStream::EthernetClientStream(Client &client, IPAddress localip, IPAddress ip, const char* host, uint16_t port)
: client(client),
localip(localip),
ip(ip),
host(host),
port(port),
connected(false)
{
}
int
EthernetClientStream::available()
{
return maintain() ? client.available() : 0;
}
int
EthernetClientStream::read()
{
return maintain() ? client.read() : -1;
}
int
EthernetClientStream::peek()
{
return maintain() ? client.peek() : -1;
}
void EthernetClientStream::flush()
{
if (maintain())
client.flush();
}
size_t
EthernetClientStream::write(uint8_t c)
{
return maintain() ? client.write(c) : 0;
}
void
EthernetClientStream::maintain(IPAddress localip)
{
// temporary hack to Firmata to compile for Intel Galileo
// the issue is documented here: https://github.com/firmata/arduino/issues/218
#if !defined(ARDUINO_LINUX)
if (this->localip!=localip)
{
this->localip = localip;
if (connected)
stop();
}
#endif
}
void
EthernetClientStream::stop()
{
client.stop();
connected = false;
time_connect = millis();
}
bool
EthernetClientStream::maintain()
{
if (client && client.connected())
return true;
if (connected)
{
stop();
}
else if (millis()-time_connect >= MILLIS_RECONNECT)
{
connected = host ? client.connect(host,port) : client.connect(ip,port);
if (!connected) {
time_connect = millis();
DEBUG_PRINTLN("connection failed");
} else {
DEBUG_PRINTLN("connected");
}
}
return connected;
}

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/*
EthernetClientStream.h
An Arduino-Stream that wraps an instance of Client reconnecting to
the remote-ip in a transparent way. A disconnected client may be
recognized by the returnvalues -1 from calls to peek or read and
a 0 from calls to write.
Copyright (C) 2013 Norbert Truchsess. All rights reserved.
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
See file LICENSE.txt for further informations on licensing terms.
formatted using the GNU C formatting and indenting
*/
#ifndef ETHERNETCLIENTSTREAM_H
#define ETHERNETCLIENTSTREAM_H
#include <inttypes.h>
#include <stdio.h>
#include <Stream.h>
#include <Client.h>
#include <IPAddress.h>
class EthernetClientStream : public Stream
{
public:
EthernetClientStream(Client &client, IPAddress localip, IPAddress ip, const char* host, uint16_t port);
int available();
int read();
int peek();
void flush();
size_t write(uint8_t);
void maintain(IPAddress localip);
private:
Client &client;
IPAddress localip;
IPAddress ip;
const char* host;
uint16_t port;
bool connected;
uint32_t time_connect;
bool maintain();
void stop();
};
#endif

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#ifndef FIRMATA_DEBUG_H
#define FIRMATA_DEBUG_H
#ifdef SERIAL_DEBUG
#define DEBUG_BEGIN(baud) Serial.begin(baud); while(!Serial) {;}
#define DEBUG_PRINTLN(x) Serial.println (x)
#define DEBUG_PRINT(x) Serial.print (x)
#else
#define DEBUG_BEGIN(baud)
#define DEBUG_PRINTLN(x)
#define DEBUG_PRINT(x)
#endif
#endif /* FIRMATA_DEBUG_H */

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/*
serialUtils.h - Definitions and utility functions for the Serial feature.
Copyright (c) 2015 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 by Jeff Hoefs: October 3rd, 2015
*/
#ifndef SERIAL_UTILS_H
#define SERIAL_UTILS_H
// Serial port Ids
#define HW_SERIAL0 0x00
#define HW_SERIAL1 0x01
#define HW_SERIAL2 0x02
#define HW_SERIAL3 0x03
// extensible up to 0x07
#define SW_SERIAL0 0x08
#define SW_SERIAL1 0x09
#define SW_SERIAL2 0x0A
#define SW_SERIAL3 0x0B
// extensible up to 0x0F
#define SERIAL_PORT_ID_MASK 0x0F
#define MAX_SERIAL_PORTS 8
#define SERIAL_READ_ARR_LEN 12
// map configuration query response resolution value to serial pin type
#define RES_RX1 0x02
#define RES_TX1 0x03
#define RES_RX2 0x04
#define RES_TX2 0x05
#define RES_RX3 0x06
#define RES_TX3 0x07
// Serial command bytes
#define SERIAL_CONFIG 0x10
#define SERIAL_WRITE 0x20
#define SERIAL_READ 0x30
#define SERIAL_REPLY 0x40
#define SERIAL_CLOSE 0x50
#define SERIAL_FLUSH 0x60
#define SERIAL_LISTEN 0x70
// Serial read modes
#define SERIAL_READ_CONTINUOUSLY 0x00
#define SERIAL_STOP_READING 0x01
#define SERIAL_MODE_MASK 0xF0
struct serial_pins {
uint8_t rx;
uint8_t tx;
};
/*
* Get the serial serial pin type (RX1, TX1, RX2, TX2, etc) for the specified pin.
*/
inline uint8_t getSerialPinType(uint8_t pin) {
#if defined(PIN_SERIAL_RX)
// TODO when use of HW_SERIAL0 is enabled
#endif
#if defined(PIN_SERIAL1_RX)
if (pin == PIN_SERIAL1_RX) return RES_RX1;
if (pin == PIN_SERIAL1_TX) return RES_TX1;
#endif
#if defined(PIN_SERIAL2_RX)
if (pin == PIN_SERIAL2_RX) return RES_RX2;
if (pin == PIN_SERIAL2_TX) return RES_TX2;
#endif
#if defined(PIN_SERIAL3_RX)
if (pin == PIN_SERIAL3_RX) return RES_RX3;
if (pin == PIN_SERIAL3_TX) return RES_TX3;
#endif
return 0;
}
/*
* Get the RX and TX pins numbers for the specified HW serial port.
*/
inline serial_pins getSerialPinNumbers(uint8_t portId) {
serial_pins pins;
switch (portId) {
#if defined(PIN_SERIAL_RX)
// case HW_SERIAL0:
// // TODO when use of HW_SERIAL0 is enabled
// break;
#endif
#if defined(PIN_SERIAL1_RX)
case HW_SERIAL1:
pins.rx = PIN_SERIAL1_RX;
pins.tx = PIN_SERIAL1_TX;
break;
#endif
#if defined(PIN_SERIAL2_RX)
case HW_SERIAL2:
pins.rx = PIN_SERIAL2_RX;
pins.tx = PIN_SERIAL2_TX;
break;
#endif
#if defined(PIN_SERIAL3_RX)
case HW_SERIAL3:
pins.rx = PIN_SERIAL3_RX;
pins.tx = PIN_SERIAL3_TX;
break;
#endif
default:
pins.rx = 0;
pins.tx = 0;
}
return pins;
}
#endif /* SERIAL_UTILS_H */