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Diffstat (limited to 'libraries/Firmata/examples/OldStandardFirmata/OldStandardFirmata.pde')
| -rw-r--r-- | libraries/Firmata/examples/OldStandardFirmata/OldStandardFirmata.pde | 228 |
1 files changed, 228 insertions, 0 deletions
diff --git a/libraries/Firmata/examples/OldStandardFirmata/OldStandardFirmata.pde b/libraries/Firmata/examples/OldStandardFirmata/OldStandardFirmata.pde new file mode 100644 index 0000000..ae270b6 --- /dev/null +++ b/libraries/Firmata/examples/OldStandardFirmata/OldStandardFirmata.pde @@ -0,0 +1,228 @@ +/*
+ Copyright (C) 2006-2008 Hans-Christoph Steiner. All rights reserved.
+
+ This library is free software; you can redistribute it and/or
+ modify it under the terms of the GNU Lesser General Public
+ License as published by the Free Software Foundation; either
+ version 2.1 of the License, or (at your option) any later version.
+
+ See file LICENSE.txt for further informations on licensing terms.
+ */
+
+/*
+ * This is an old version of StandardFirmata (v2.0). It is kept here because
+ * its the last version that works on an ATMEGA8 chip. Also, it can be used
+ * for host software that has not been updated to a newer version of the
+ * protocol. It also uses the old baud rate of 115200 rather than 57600.
+ */
+
+#include <EEPROM.h>
+#include <Firmata.h>
+
+/*==============================================================================
+ * GLOBAL VARIABLES
+ *============================================================================*/
+
+/* analog inputs */
+int analogInputsToReport = 0; // bitwise array to store pin reporting
+int analogPin = 0; // counter for reading analog pins
+
+/* digital pins */
+byte reportPINs[TOTAL_PORTS]; // PIN == input port
+byte previousPINs[TOTAL_PORTS]; // PIN == input port
+byte pinStatus[TOTAL_PINS]; // store pin status, default OUTPUT
+byte portStatus[TOTAL_PORTS];
+
+/* timer variables */
+unsigned long currentMillis; // store the current value from millis()
+unsigned long previousMillis; // for comparison with currentMillis
+
+
+/*==============================================================================
+ * FUNCTIONS
+ *============================================================================*/
+
+void outputPort(byte portNumber, byte portValue)
+{
+ portValue = portValue &~ portStatus[portNumber];
+ if(previousPINs[portNumber] != portValue) {
+ Firmata.sendDigitalPort(portNumber, portValue);
+ previousPINs[portNumber] = portValue;
+ Firmata.sendDigitalPort(portNumber, portValue);
+ }
+}
+
+/* -----------------------------------------------------------------------------
+ * check all the active digital inputs for change of state, then add any events
+ * to the Serial output queue using Serial.print() */
+void checkDigitalInputs(void)
+{
+ byte i, tmp;
+ for(i=0; i < TOTAL_PORTS; i++) {
+ if(reportPINs[i]) {
+ switch(i) {
+ case 0: outputPort(0, PIND &~ B00000011); break; // ignore Rx/Tx 0/1
+ case 1: outputPort(1, PINB); break;
+ case 2: outputPort(2, PINC); break;
+ }
+ }
+ }
+}
+
+// -----------------------------------------------------------------------------
+/* sets the pin mode to the correct state and sets the relevant bits in the
+ * two bit-arrays that track Digital I/O and PWM status
+ */
+void setPinModeCallback(byte pin, int mode) {
+ byte port = 0;
+ byte offset = 0;
+
+ if (pin < 8) {
+ port = 0;
+ offset = 0;
+ } else if (pin < 14) {
+ port = 1;
+ offset = 8;
+ } else if (pin < 22) {
+ port = 2;
+ offset = 14;
+ }
+
+ if(pin > 1) { // ignore RxTx (pins 0 and 1)
+ pinStatus[pin] = mode;
+ switch(mode) {
+ case INPUT:
+ pinMode(pin, INPUT);
+ portStatus[port] = portStatus[port] &~ (1 << (pin - offset));
+ break;
+ case OUTPUT:
+ digitalWrite(pin, LOW); // disable PWM
+ case PWM:
+ pinMode(pin, OUTPUT);
+ portStatus[port] = portStatus[port] | (1 << (pin - offset));
+ break;
+ //case ANALOG: // TODO figure this out
+ default:
+ Firmata.sendString("");
+ }
+ // TODO: save status to EEPROM here, if changed
+ }
+}
+
+void analogWriteCallback(byte pin, int value)
+{
+ setPinModeCallback(pin,PWM);
+ analogWrite(pin, value);
+}
+
+void digitalWriteCallback(byte port, int value)
+{
+ switch(port) {
+ case 0: // pins 2-7 (don't change Rx/Tx, pins 0 and 1)
+ // 0xFF03 == B1111111100000011 0x03 == B00000011
+ PORTD = (value &~ 0xFF03) | (PORTD & 0x03);
+ break;
+ case 1: // pins 8-13 (14,15 are disabled for the crystal)
+ PORTB = (byte)value;
+ break;
+ case 2: // analog pins used as digital
+ PORTC = (byte)value;
+ break;
+ }
+}
+
+// -----------------------------------------------------------------------------
+/* sets bits in a bit array (int) to toggle the reporting of the analogIns
+ */
+//void FirmataClass::setAnalogPinReporting(byte pin, byte state) {
+//}
+void reportAnalogCallback(byte pin, int value)
+{
+ if(value == 0) {
+ analogInputsToReport = analogInputsToReport &~ (1 << pin);
+ }
+ else { // everything but 0 enables reporting of that pin
+ analogInputsToReport = analogInputsToReport | (1 << pin);
+ }
+ // TODO: save status to EEPROM here, if changed
+}
+
+void reportDigitalCallback(byte port, int value)
+{
+ reportPINs[port] = (byte)value;
+ if(port == 2) // turn off analog reporting when used as digital
+ analogInputsToReport = 0;
+}
+
+/*==============================================================================
+ * SETUP()
+ *============================================================================*/
+void setup()
+{
+ byte i;
+
+ Firmata.setFirmwareVersion(2, 0);
+
+ Firmata.attach(ANALOG_MESSAGE, analogWriteCallback);
+ Firmata.attach(DIGITAL_MESSAGE, digitalWriteCallback);
+ Firmata.attach(REPORT_ANALOG, reportAnalogCallback);
+ Firmata.attach(REPORT_DIGITAL, reportDigitalCallback);
+ Firmata.attach(SET_PIN_MODE, setPinModeCallback);
+
+ portStatus[0] = B00000011; // ignore Tx/RX pins
+ portStatus[1] = B11000000; // ignore 14/15 pins
+ portStatus[2] = B00000000;
+
+// for(i=0; i<TOTAL_PINS; ++i) { // TODO make this work with analogs
+ for(i=0; i<14; ++i) {
+ setPinModeCallback(i,OUTPUT);
+ }
+ // set all outputs to 0 to make sure internal pull-up resistors are off
+ PORTB = 0; // pins 8-15
+ PORTC = 0; // analog port
+ PORTD = 0; // pins 0-7
+
+ // TODO rethink the init, perhaps it should report analog on default
+ for(i=0; i<TOTAL_PORTS; ++i) {
+ reportPINs[i] = false;
+ }
+ // TODO: load state from EEPROM here
+
+ /* send digital inputs here, if enabled, to set the initial state on the
+ * host computer, since once in the loop(), this firmware will only send
+ * digital data on change. */
+ if(reportPINs[0]) outputPort(0, PIND &~ B00000011); // ignore Rx/Tx 0/1
+ if(reportPINs[1]) outputPort(1, PINB);
+ if(reportPINs[2]) outputPort(2, PINC);
+
+ Firmata.begin(115200);
+}
+
+/*==============================================================================
+ * LOOP()
+ *============================================================================*/
+void loop()
+{
+/* DIGITALREAD - as fast as possible, check for changes and output them to the
+ * FTDI buffer using Serial.print() */
+ checkDigitalInputs();
+ currentMillis = millis();
+ if(currentMillis - previousMillis > 20) {
+ previousMillis += 20; // run this every 20ms
+ /* SERIALREAD - Serial.read() uses a 128 byte circular buffer, so handle
+ * all serialReads at once, i.e. empty the buffer */
+ while(Firmata.available())
+ Firmata.processInput();
+ /* SEND FTDI WRITE BUFFER - make sure that the FTDI buffer doesn't go over
+ * 60 bytes. use a timer to sending an event character every 4 ms to
+ * trigger the buffer to dump. */
+
+ /* ANALOGREAD - right after the event character, do all of the
+ * analogReads(). These only need to be done every 4ms. */
+ for(analogPin=0;analogPin<TOTAL_ANALOG_PINS;analogPin++) {
+ if( analogInputsToReport & (1 << analogPin) ) {
+ Firmata.sendAnalog(analogPin, analogRead(analogPin));
+ }
+ }
+ }
+}
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