1103 lines
36 KiB
C++
1103 lines
36 KiB
C++
/*
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Firmata is a generic protocol for communicating with microcontrollers
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from software on a host computer. It is intended to work with
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any host computer software package.
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To download a host software package, please clink on the following link
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to open the list of Firmata client libraries your default browser.
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https://github.com/firmata/arduino#firmata-client-libraries
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Copyright (C) 2006-2008 Hans-Christoph Steiner. All rights reserved.
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Copyright (C) 2010-2011 Paul Stoffregen. All rights reserved.
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Copyright (C) 2009 Shigeru Kobayashi. All rights reserved.
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Copyright (C) 2009-2015 Jeff Hoefs. All rights reserved.
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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See file LICENSE.txt for further informations on licensing terms.
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Last updated by Jeff Hoefs: December 26th, 2015
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*/
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/*
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README
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StandardFirmataPlus adds additional features that may exceed the Flash and
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RAM sizes of Arduino boards such as ATMega328p (Uno) and ATMega32u4
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(Leonardo, Micro, Yun, etc). It is best to use StandardFirmataPlus with higher
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memory boards such as the Arduino Mega, Arduino Due, Teensy 3.0/3.1/3.2.
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All Firmata examples that are appended with "Plus" add the following features:
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- Ability to interface with serial devices using UART, USART, or SoftwareSerial
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depending on the capatilities of the board.
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At the time of this writing, StandardFirmataPlus will still compile and run
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on ATMega328p and ATMega32u4-based boards, but future versions of this sketch
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may not as new features are added.
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*/
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#include <Servo.h>
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#include <Wire.h>
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#include <Firmata.h>
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// SoftwareSerial is currently only supported for AVR-based boards and the Arduino 101
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// The third condition checks if the IDE is in the 1.0.x series, if so, include SoftwareSerial
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// since it should be available to all boards in that IDE.
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#if defined(ARDUINO_ARCH_AVR) || defined(ARDUINO_ARCH_ARC32) || (ARDUINO >= 100 && ARDUINO < 10500)
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#include <SoftwareSerial.h>
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#endif
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#include "utility/serialUtils.h"
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#define I2C_WRITE B00000000
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#define I2C_READ B00001000
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#define I2C_READ_CONTINUOUSLY B00010000
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#define I2C_STOP_READING B00011000
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#define I2C_READ_WRITE_MODE_MASK B00011000
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#define I2C_10BIT_ADDRESS_MODE_MASK B00100000
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#define I2C_END_TX_MASK B01000000
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#define I2C_STOP_TX 1
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#define I2C_RESTART_TX 0
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#define I2C_MAX_QUERIES 8
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#define I2C_REGISTER_NOT_SPECIFIED -1
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// the minimum interval for sampling analog input
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#define MINIMUM_SAMPLING_INTERVAL 1
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/*==============================================================================
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* GLOBAL VARIABLES
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*============================================================================*/
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/* analog inputs */
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int analogInputsToReport = 0; // bitwise array to store pin reporting
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/* digital input ports */
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byte reportPINs[TOTAL_PORTS]; // 1 = report this port, 0 = silence
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byte previousPINs[TOTAL_PORTS]; // previous 8 bits sent
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/* pins configuration */
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byte pinConfig[TOTAL_PINS]; // configuration of every pin
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byte portConfigInputs[TOTAL_PORTS]; // each bit: 1 = pin in INPUT, 0 = anything else
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int pinState[TOTAL_PINS]; // any value that has been written
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/* timer variables */
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unsigned long currentMillis; // store the current value from millis()
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unsigned long previousMillis; // for comparison with currentMillis
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unsigned int samplingInterval = 19; // how often to run the main loop (in ms)
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/* serial message */
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Stream *swSerial0 = NULL;
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Stream *swSerial1 = NULL;
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Stream *swSerial2 = NULL;
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Stream *swSerial3 = NULL;
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byte reportSerial[MAX_SERIAL_PORTS];
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int serialBytesToRead[SERIAL_READ_ARR_LEN];
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signed char serialIndex;
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/* i2c data */
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struct i2c_device_info {
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byte addr;
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int reg;
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byte bytes;
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byte stopTX;
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};
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/* for i2c read continuous more */
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i2c_device_info query[I2C_MAX_QUERIES];
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byte i2cRxData[32];
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boolean isI2CEnabled = false;
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signed char queryIndex = -1;
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// default delay time between i2c read request and Wire.requestFrom()
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unsigned int i2cReadDelayTime = 0;
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Servo servos[MAX_SERVOS];
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byte servoPinMap[TOTAL_PINS];
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byte detachedServos[MAX_SERVOS];
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byte detachedServoCount = 0;
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byte servoCount = 0;
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boolean isResetting = false;
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/* utility functions */
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void wireWrite(byte data)
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{
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#if ARDUINO >= 100
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Wire.write((byte)data);
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#else
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Wire.send(data);
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#endif
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}
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byte wireRead(void)
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{
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#if ARDUINO >= 100
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return Wire.read();
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#else
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return Wire.receive();
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#endif
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}
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/*==============================================================================
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* FUNCTIONS
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*============================================================================*/
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// get a pointer to the serial port associated with the specified port id
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Stream* getPortFromId(byte portId)
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{
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switch (portId) {
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case HW_SERIAL0:
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// block use of Serial (typically pins 0 and 1) until ability to reclaim Serial is implemented
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//return &Serial;
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return NULL;
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#if defined(PIN_SERIAL1_RX)
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case HW_SERIAL1:
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return &Serial1;
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#endif
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#if defined(PIN_SERIAL2_RX)
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case HW_SERIAL2:
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return &Serial2;
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#endif
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#if defined(PIN_SERIAL3_RX)
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case HW_SERIAL3:
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return &Serial3;
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#endif
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#if defined(SoftwareSerial_h)
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case SW_SERIAL0:
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if (swSerial0 != NULL) {
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// instances of SoftwareSerial are already pointers so simply return the instance
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return swSerial0;
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}
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break;
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case SW_SERIAL1:
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if (swSerial1 != NULL) {
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return swSerial1;
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}
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break;
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case SW_SERIAL2:
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if (swSerial2 != NULL) {
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return swSerial2;
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}
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break;
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case SW_SERIAL3:
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if (swSerial3 != NULL) {
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return swSerial3;
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}
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break;
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#endif
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}
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return NULL;
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}
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// Check serial ports that have READ_CONTINUOUS mode set and relay any data
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// for each port to the device attached to that port.
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void checkSerial()
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{
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byte portId, serialData;
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int bytesToRead = 0;
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int numBytesToRead = 0;
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Stream* serialPort;
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if (serialIndex > -1) {
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// loop through all reporting (READ_CONTINUOUS) serial ports
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for (byte i = 0; i < serialIndex + 1; i++) {
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portId = reportSerial[i];
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bytesToRead = serialBytesToRead[portId];
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serialPort = getPortFromId(portId);
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if (serialPort == NULL) {
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continue;
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}
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#if defined(SoftwareSerial_h)
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// only the SoftwareSerial port that is "listening" can read data
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if (portId > 7 && !((SoftwareSerial*)serialPort)->isListening()) {
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continue;
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}
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#endif
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if (serialPort->available() > 0) {
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Firmata.write(START_SYSEX);
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Firmata.write(SERIAL_MESSAGE);
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Firmata.write(SERIAL_REPLY | portId);
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if (bytesToRead == 0 || (serialPort->available() <= bytesToRead)) {
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numBytesToRead = serialPort->available();
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} else {
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numBytesToRead = bytesToRead;
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}
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// relay serial data to the serial device
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while (numBytesToRead > 0) {
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serialData = serialPort->read();
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Firmata.write(serialData & 0x7F);
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Firmata.write((serialData >> 7) & 0x7F);
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numBytesToRead--;
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}
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Firmata.write(END_SYSEX);
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}
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}
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}
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}
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void attachServo(byte pin, int minPulse, int maxPulse)
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{
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if (servoCount < MAX_SERVOS) {
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// reuse indexes of detached servos until all have been reallocated
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if (detachedServoCount > 0) {
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servoPinMap[pin] = detachedServos[detachedServoCount - 1];
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if (detachedServoCount > 0) detachedServoCount--;
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} else {
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servoPinMap[pin] = servoCount;
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servoCount++;
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}
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if (minPulse > 0 && maxPulse > 0) {
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servos[servoPinMap[pin]].attach(PIN_TO_DIGITAL(pin), minPulse, maxPulse);
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} else {
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servos[servoPinMap[pin]].attach(PIN_TO_DIGITAL(pin));
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}
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} else {
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Firmata.sendString("Max servos attached");
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}
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}
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void detachServo(byte pin)
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{
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servos[servoPinMap[pin]].detach();
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// if we're detaching the last servo, decrement the count
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// otherwise store the index of the detached servo
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if (servoPinMap[pin] == servoCount && servoCount > 0) {
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servoCount--;
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} else if (servoCount > 0) {
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// keep track of detached servos because we want to reuse their indexes
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// before incrementing the count of attached servos
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detachedServoCount++;
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detachedServos[detachedServoCount - 1] = servoPinMap[pin];
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}
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servoPinMap[pin] = 255;
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}
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void readAndReportData(byte address, int theRegister, byte numBytes, byte stopTX) {
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// allow I2C requests that don't require a register read
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// for example, some devices using an interrupt pin to signify new data available
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// do not always require the register read so upon interrupt you call Wire.requestFrom()
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if (theRegister != I2C_REGISTER_NOT_SPECIFIED) {
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Wire.beginTransmission(address);
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wireWrite((byte)theRegister);
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Wire.endTransmission(stopTX); // default = true
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// do not set a value of 0
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if (i2cReadDelayTime > 0) {
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// delay is necessary for some devices such as WiiNunchuck
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delayMicroseconds(i2cReadDelayTime);
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}
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} else {
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theRegister = 0; // fill the register with a dummy value
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}
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Wire.requestFrom(address, numBytes); // all bytes are returned in requestFrom
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// check to be sure correct number of bytes were returned by slave
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if (numBytes < Wire.available()) {
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Firmata.sendString("I2C: Too many bytes received");
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} else if (numBytes > Wire.available()) {
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Firmata.sendString("I2C: Too few bytes received");
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}
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i2cRxData[0] = address;
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i2cRxData[1] = theRegister;
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for (int i = 0; i < numBytes && Wire.available(); i++) {
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i2cRxData[2 + i] = wireRead();
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}
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// send slave address, register and received bytes
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Firmata.sendSysex(SYSEX_I2C_REPLY, numBytes + 2, i2cRxData);
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}
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void outputPort(byte portNumber, byte portValue, byte forceSend)
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{
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// pins not configured as INPUT are cleared to zeros
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portValue = portValue & portConfigInputs[portNumber];
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// only send if the value is different than previously sent
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if (forceSend || previousPINs[portNumber] != portValue) {
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Firmata.sendDigitalPort(portNumber, portValue);
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previousPINs[portNumber] = portValue;
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}
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}
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/* -----------------------------------------------------------------------------
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* check all the active digital inputs for change of state, then add any events
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* to the Serial output queue using Serial.print() */
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void checkDigitalInputs(void)
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{
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/* Using non-looping code allows constants to be given to readPort().
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* The compiler will apply substantial optimizations if the inputs
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* to readPort() are compile-time constants. */
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if (TOTAL_PORTS > 0 && reportPINs[0]) outputPort(0, readPort(0, portConfigInputs[0]), false);
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if (TOTAL_PORTS > 1 && reportPINs[1]) outputPort(1, readPort(1, portConfigInputs[1]), false);
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if (TOTAL_PORTS > 2 && reportPINs[2]) outputPort(2, readPort(2, portConfigInputs[2]), false);
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if (TOTAL_PORTS > 3 && reportPINs[3]) outputPort(3, readPort(3, portConfigInputs[3]), false);
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if (TOTAL_PORTS > 4 && reportPINs[4]) outputPort(4, readPort(4, portConfigInputs[4]), false);
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if (TOTAL_PORTS > 5 && reportPINs[5]) outputPort(5, readPort(5, portConfigInputs[5]), false);
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if (TOTAL_PORTS > 6 && reportPINs[6]) outputPort(6, readPort(6, portConfigInputs[6]), false);
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if (TOTAL_PORTS > 7 && reportPINs[7]) outputPort(7, readPort(7, portConfigInputs[7]), false);
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if (TOTAL_PORTS > 8 && reportPINs[8]) outputPort(8, readPort(8, portConfigInputs[8]), false);
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if (TOTAL_PORTS > 9 && reportPINs[9]) outputPort(9, readPort(9, portConfigInputs[9]), false);
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if (TOTAL_PORTS > 10 && reportPINs[10]) outputPort(10, readPort(10, portConfigInputs[10]), false);
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if (TOTAL_PORTS > 11 && reportPINs[11]) outputPort(11, readPort(11, portConfigInputs[11]), false);
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if (TOTAL_PORTS > 12 && reportPINs[12]) outputPort(12, readPort(12, portConfigInputs[12]), false);
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if (TOTAL_PORTS > 13 && reportPINs[13]) outputPort(13, readPort(13, portConfigInputs[13]), false);
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if (TOTAL_PORTS > 14 && reportPINs[14]) outputPort(14, readPort(14, portConfigInputs[14]), false);
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if (TOTAL_PORTS > 15 && reportPINs[15]) outputPort(15, readPort(15, portConfigInputs[15]), false);
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}
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// -----------------------------------------------------------------------------
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/* sets the pin mode to the correct state and sets the relevant bits in the
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* two bit-arrays that track Digital I/O and PWM status
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*/
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void setPinModeCallback(byte pin, int mode)
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{
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if (pinConfig[pin] == PIN_MODE_IGNORE)
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return;
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if (pinConfig[pin] == PIN_MODE_I2C && isI2CEnabled && mode != PIN_MODE_I2C) {
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// disable i2c so pins can be used for other functions
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// the following if statements should reconfigure the pins properly
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disableI2CPins();
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}
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if (IS_PIN_DIGITAL(pin) && mode != PIN_MODE_SERVO) {
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if (servoPinMap[pin] < MAX_SERVOS && servos[servoPinMap[pin]].attached()) {
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detachServo(pin);
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}
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}
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if (IS_PIN_ANALOG(pin)) {
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reportAnalogCallback(PIN_TO_ANALOG(pin), mode == PIN_MODE_ANALOG ? 1 : 0); // turn on/off reporting
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}
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if (IS_PIN_DIGITAL(pin)) {
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if (mode == INPUT || mode == PIN_MODE_PULLUP) {
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portConfigInputs[pin / 8] |= (1 << (pin & 7));
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} else {
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portConfigInputs[pin / 8] &= ~(1 << (pin & 7));
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}
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}
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pinState[pin] = 0;
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switch (mode) {
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case PIN_MODE_ANALOG:
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if (IS_PIN_ANALOG(pin)) {
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if (IS_PIN_DIGITAL(pin)) {
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pinMode(PIN_TO_DIGITAL(pin), INPUT); // disable output driver
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#if ARDUINO <= 100
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// deprecated since Arduino 1.0.1 - TODO: drop support in Firmata 2.6
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digitalWrite(PIN_TO_DIGITAL(pin), LOW); // disable internal pull-ups
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#endif
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}
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pinConfig[pin] = PIN_MODE_ANALOG;
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}
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break;
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case INPUT:
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if (IS_PIN_DIGITAL(pin)) {
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pinMode(PIN_TO_DIGITAL(pin), INPUT); // disable output driver
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#if ARDUINO <= 100
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// deprecated since Arduino 1.0.1 - TODO: drop support in Firmata 2.6
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digitalWrite(PIN_TO_DIGITAL(pin), LOW); // disable internal pull-ups
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#endif
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pinConfig[pin] = INPUT;
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}
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break;
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case PIN_MODE_PULLUP:
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if (IS_PIN_DIGITAL(pin)) {
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pinMode(PIN_TO_DIGITAL(pin), INPUT_PULLUP);
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pinConfig[pin] = PIN_MODE_PULLUP;
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pinState[pin] = 1;
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}
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break;
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case OUTPUT:
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if (IS_PIN_DIGITAL(pin)) {
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digitalWrite(PIN_TO_DIGITAL(pin), LOW); // disable PWM
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pinMode(PIN_TO_DIGITAL(pin), OUTPUT);
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pinConfig[pin] = OUTPUT;
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}
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break;
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case PIN_MODE_PWM:
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if (IS_PIN_PWM(pin)) {
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pinMode(PIN_TO_PWM(pin), OUTPUT);
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analogWrite(PIN_TO_PWM(pin), 0);
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pinConfig[pin] = PIN_MODE_PWM;
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}
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break;
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case PIN_MODE_SERVO:
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if (IS_PIN_DIGITAL(pin)) {
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pinConfig[pin] = PIN_MODE_SERVO;
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if (servoPinMap[pin] == 255 || !servos[servoPinMap[pin]].attached()) {
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// pass -1 for min and max pulse values to use default values set
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// by Servo library
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attachServo(pin, -1, -1);
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}
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}
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break;
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case PIN_MODE_I2C:
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if (IS_PIN_I2C(pin)) {
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// mark the pin as i2c
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// the user must call I2C_CONFIG to enable I2C for a device
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pinConfig[pin] = PIN_MODE_I2C;
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}
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break;
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case PIN_MODE_SERIAL:
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// used for both HW and SW serial
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pinConfig[pin] = PIN_MODE_SERIAL;
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break;
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default:
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Firmata.sendString("Unknown pin mode"); // TODO: put error msgs in EEPROM
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}
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// TODO: save status to EEPROM here, if changed
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}
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/*
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* Sets the value of an individual pin. Useful if you want to set a pin value but
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* are not tracking the digital port state.
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* Can only be used on pins configured as OUTPUT.
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* Cannot be used to enable pull-ups on Digital INPUT pins.
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*/
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void setPinValueCallback(byte pin, int value)
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{
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if (pin < TOTAL_PINS && IS_PIN_DIGITAL(pin)) {
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if (pinConfig[pin] == OUTPUT) {
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pinState[pin] = value;
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digitalWrite(PIN_TO_DIGITAL(pin), value);
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}
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}
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}
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void analogWriteCallback(byte pin, int value)
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{
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if (pin < TOTAL_PINS) {
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switch (pinConfig[pin]) {
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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
|
|
}
|
|
if (IS_PIN_SERIAL(pin)) {
|
|
Firmata.write(PIN_MODE_SERIAL);
|
|
Firmata.write(getSerialPinType(pin));
|
|
}
|
|
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;
|
|
|
|
case SERIAL_MESSAGE:
|
|
Stream * serialPort;
|
|
mode = argv[0] & SERIAL_MODE_MASK;
|
|
byte portId = argv[0] & SERIAL_PORT_ID_MASK;
|
|
|
|
switch (mode) {
|
|
case SERIAL_CONFIG:
|
|
{
|
|
long baud = (long)argv[1] | ((long)argv[2] << 7) | ((long)argv[3] << 14);
|
|
byte swTxPin, swRxPin;
|
|
serial_pins pins;
|
|
|
|
if (portId < 8) {
|
|
serialPort = getPortFromId(portId);
|
|
if (serialPort != NULL) {
|
|
pins = getSerialPinNumbers(portId);
|
|
if (pins.rx != 0 && pins.tx != 0) {
|
|
setPinModeCallback(pins.rx, PIN_MODE_SERIAL);
|
|
setPinModeCallback(pins.tx, PIN_MODE_SERIAL);
|
|
// Fixes an issue where some serial devices would not work properly with Arduino Due
|
|
// because all Arduino pins are set to OUTPUT by default in StandardFirmata.
|
|
pinMode(pins.rx, INPUT);
|
|
}
|
|
((HardwareSerial*)serialPort)->begin(baud);
|
|
}
|
|
} else {
|
|
#if defined(SoftwareSerial_h)
|
|
if (argc > 4) {
|
|
swRxPin = argv[4];
|
|
swTxPin = argv[5];
|
|
} else {
|
|
// RX and TX pins must be specified when using SW serial
|
|
Firmata.sendString("Specify serial RX and TX pins");
|
|
return;
|
|
}
|
|
switch (portId) {
|
|
case SW_SERIAL0:
|
|
if (swSerial0 == NULL) {
|
|
swSerial0 = new SoftwareSerial(swRxPin, swTxPin);
|
|
}
|
|
break;
|
|
case SW_SERIAL1:
|
|
if (swSerial1 == NULL) {
|
|
swSerial1 = new SoftwareSerial(swRxPin, swTxPin);
|
|
}
|
|
break;
|
|
case SW_SERIAL2:
|
|
if (swSerial2 == NULL) {
|
|
swSerial2 = new SoftwareSerial(swRxPin, swTxPin);
|
|
}
|
|
break;
|
|
case SW_SERIAL3:
|
|
if (swSerial3 == NULL) {
|
|
swSerial3 = new SoftwareSerial(swRxPin, swTxPin);
|
|
}
|
|
break;
|
|
}
|
|
serialPort = getPortFromId(portId);
|
|
if (serialPort != NULL) {
|
|
setPinModeCallback(swRxPin, PIN_MODE_SERIAL);
|
|
setPinModeCallback(swTxPin, PIN_MODE_SERIAL);
|
|
((SoftwareSerial*)serialPort)->begin(baud);
|
|
}
|
|
#endif
|
|
}
|
|
break; // SERIAL_CONFIG
|
|
}
|
|
case SERIAL_WRITE:
|
|
{
|
|
byte data;
|
|
serialPort = getPortFromId(portId);
|
|
if (serialPort == NULL) {
|
|
break;
|
|
}
|
|
for (byte i = 1; i < argc; i += 2) {
|
|
data = argv[i] + (argv[i + 1] << 7);
|
|
serialPort->write(data);
|
|
}
|
|
break; // SERIAL_WRITE
|
|
}
|
|
case SERIAL_READ:
|
|
if (argv[1] == SERIAL_READ_CONTINUOUSLY) {
|
|
if (serialIndex + 1 >= MAX_SERIAL_PORTS) {
|
|
break;
|
|
}
|
|
|
|
if (argc > 2) {
|
|
// maximum number of bytes to read from buffer per iteration of loop()
|
|
serialBytesToRead[portId] = (int)argv[2] | ((int)argv[3] << 7);
|
|
} else {
|
|
// read all available bytes per iteration of loop()
|
|
serialBytesToRead[portId] = 0;
|
|
}
|
|
serialIndex++;
|
|
reportSerial[serialIndex] = portId;
|
|
} else if (argv[1] == SERIAL_STOP_READING) {
|
|
byte serialIndexToSkip = 0;
|
|
if (serialIndex <= 0) {
|
|
serialIndex = -1;
|
|
} else {
|
|
for (byte i = 0; i < serialIndex + 1; i++) {
|
|
if (reportSerial[i] == portId) {
|
|
serialIndexToSkip = i;
|
|
break;
|
|
}
|
|
}
|
|
// shift elements over to fill space left by removed element
|
|
for (byte i = serialIndexToSkip; i < serialIndex + 1; i++) {
|
|
if (i < MAX_SERIAL_PORTS) {
|
|
reportSerial[i] = reportSerial[i + 1];
|
|
}
|
|
}
|
|
serialIndex--;
|
|
}
|
|
}
|
|
break; // SERIAL_READ
|
|
case SERIAL_CLOSE:
|
|
serialPort = getPortFromId(portId);
|
|
if (serialPort != NULL) {
|
|
if (portId < 8) {
|
|
((HardwareSerial*)serialPort)->end();
|
|
} else {
|
|
#if defined(SoftwareSerial_h)
|
|
((SoftwareSerial*)serialPort)->end();
|
|
if (serialPort != NULL) {
|
|
free(serialPort);
|
|
serialPort = NULL;
|
|
}
|
|
#endif
|
|
}
|
|
}
|
|
break; // SERIAL_CLOSE
|
|
case SERIAL_FLUSH:
|
|
serialPort = getPortFromId(portId);
|
|
if (serialPort != NULL) {
|
|
getPortFromId(portId)->flush();
|
|
}
|
|
break; // SERIAL_FLUSH
|
|
#if defined(SoftwareSerial_h)
|
|
case SERIAL_LISTEN:
|
|
// can only call listen() on software serial ports
|
|
if (portId > 7) {
|
|
serialPort = getPortFromId(portId);
|
|
if (serialPort != NULL) {
|
|
((SoftwareSerial*)serialPort)->listen();
|
|
}
|
|
}
|
|
break; // SERIAL_LISTEN
|
|
#endif
|
|
}
|
|
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()
|
|
{
|
|
Stream *serialPort;
|
|
isResetting = true;
|
|
|
|
// initialize a defalt state
|
|
// TODO: option to load config from EEPROM instead of default
|
|
|
|
if (isI2CEnabled) {
|
|
disableI2CPins();
|
|
}
|
|
|
|
#if defined(SoftwareSerial_h)
|
|
// free memory allocated for SoftwareSerial ports
|
|
for (byte i = SW_SERIAL0; i < SW_SERIAL3 + 1; i++) {
|
|
serialPort = getPortFromId(i);
|
|
if (serialPort != NULL) {
|
|
free(serialPort);
|
|
serialPort = NULL;
|
|
}
|
|
}
|
|
#endif
|
|
|
|
serialIndex = -1;
|
|
for (byte i = 0; i < SERIAL_READ_ARR_LEN; i++) {
|
|
serialBytesToRead[i] = 0;
|
|
}
|
|
|
|
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);
|
|
// However do not do this if you are using SERIAL_MESSAGE
|
|
|
|
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);
|
|
}
|
|
}
|
|
}
|
|
|
|
checkSerial();
|
|
}
|