From fc944ff979dbbd49a57722fe2d1d2acf47312eb4 Mon Sep 17 00:00:00 2001 From: Jesse Morgan Date: Thu, 20 Oct 2011 22:16:19 -0700 Subject: Inital commit... halfway through the project --- .../Firmata/examples/StandardFirmata/LICENSE.txt | 458 +++++++++++++++++++++ .../Firmata/examples/StandardFirmata/Makefile | 273 ++++++++++++ .../examples/StandardFirmata/StandardFirmata.pde | 398 ++++++++++++++++++ 3 files changed, 1129 insertions(+) create mode 100644 libraries/Firmata/examples/StandardFirmata/LICENSE.txt create mode 100644 libraries/Firmata/examples/StandardFirmata/Makefile create mode 100644 libraries/Firmata/examples/StandardFirmata/StandardFirmata.pde (limited to 'libraries/Firmata/examples/StandardFirmata') diff --git a/libraries/Firmata/examples/StandardFirmata/LICENSE.txt b/libraries/Firmata/examples/StandardFirmata/LICENSE.txt new file mode 100644 index 0000000..89787e1 --- /dev/null +++ b/libraries/Firmata/examples/StandardFirmata/LICENSE.txt @@ -0,0 +1,458 @@ + + GNU LESSER GENERAL PUBLIC LICENSE + Version 2.1, February 1999 + + Copyright (C) 1991, 1999 Free Software Foundation, Inc. + 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + +[This is the first released version of the Lesser GPL. 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If you're using this makefile instead, you'll need to do +# a few things differently: +# +# - Give your program's file a .cpp extension (e.g. foo.cpp). +# +# - Put this line at top of your code: #include +# +# - Write prototypes for all your functions (or define them before you +# call them). A prototype declares the types of parameters a +# function will take and what type of value it will return. This +# means that you can have a call to a function before the definition +# of the function. A function prototype looks like the first line of +# the function, with a semi-colon at the end. For example: +# int digitalRead(int pin); +# +# Instructions for using the makefile: +# +# 1. Copy this file into the folder with your sketch. +# +# 2. Below, modify the line containing "TARGET" to refer to the name of +# of your program's file without an extension (e.g. TARGET = foo). +# +# 3. Modify the line containg "ARDUINO" to point the directory that +# contains the Arduino core (for normal Arduino installations, this +# is the hardware/cores/arduino sub-directory). +# +# 4. Modify the line containing "PORT" to refer to the filename +# representing the USB or serial connection to your Arduino board +# (e.g. PORT = /dev/tty.USB0). If the exact name of this file +# changes, you can use * as a wildcard (e.g. PORT = /dev/tty.USB*). +# +# 5. At the command line, change to the directory containing your +# program's file and the makefile. +# +# 6. Type "make" and press enter to compile/verify your program. +# +# 7. Type "make upload", reset your Arduino board, and press enter to +# upload your program to the Arduino board. +# +# $Id: Makefile,v 1.7 2007/04/13 05:28:23 eighthave Exp $ + +PORT = /dev/tty.usbserial-* +TARGET := $(shell pwd | sed 's|.*/\(.*\)|\1|') +ARDUINO = /Applications/arduino +ARDUINO_SRC = $(ARDUINO)/hardware/cores/arduino +ARDUINO_LIB_SRC = $(ARDUINO)/hardware/libraries +ARDUINO_TOOLS = $(ARDUINO)/hardware/tools +INCLUDE = -I$(ARDUINO_SRC) -I$(ARDUINO)/hardware/tools/avr/avr/include \ + -I$(ARDUINO_LIB_SRC)/EEPROM \ + -I$(ARDUINO_LIB_SRC)/Firmata \ + -I$(ARDUINO_LIB_SRC)/Matrix \ + -I$(ARDUINO_LIB_SRC)/Servo \ + -I$(ARDUINO_LIB_SRC)/Wire \ + -I$(ARDUINO_LIB_SRC) +SRC = $(wildcard $(ARDUINO_SRC)/*.c) +CXXSRC = applet/$(TARGET).cpp $(ARDUINO_SRC)/HardwareSerial.cpp \ + $(ARDUINO_LIB_SRC)/EEPROM/EEPROM.cpp \ + $(ARDUINO_LIB_SRC)/Firmata/Firmata.cpp \ + $(ARDUINO_LIB_SRC)/Servo/Servo.cpp \ + $(ARDUINO_SRC)/Print.cpp \ + $(ARDUINO_SRC)/WMath.cpp +HEADERS = $(wildcard $(ARDUINO_SRC)/*.h) $(wildcard $(ARDUINO_LIB_SRC)/*/*.h) + +MCU = atmega168 +#MCU = atmega8 +F_CPU = 16000000 +FORMAT = ihex +UPLOAD_RATE = 19200 + +# Name of this Makefile (used for "make depend"). +MAKEFILE = Makefile + +# Debugging format. +# Native formats for AVR-GCC's -g are stabs [default], or dwarf-2. +# AVR (extended) COFF requires stabs, plus an avr-objcopy run. +DEBUG = stabs + +OPT = s + +# Place -D or -U options here +CDEFS = -DF_CPU=$(F_CPU) +CXXDEFS = -DF_CPU=$(F_CPU) + +# Compiler flag to set the C Standard level. +# c89 - "ANSI" C +# gnu89 - c89 plus GCC extensions +# c99 - ISO C99 standard (not yet fully implemented) +# gnu99 - c99 plus GCC extensions +CSTANDARD = -std=gnu99 +CDEBUG = -g$(DEBUG) +CWARN = -Wall -Wstrict-prototypes +CTUNING = -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums +#CEXTRA = -Wa,-adhlns=$(<:.c=.lst) + +CFLAGS = $(CDEBUG) $(CDEFS) $(INCLUDE) -O$(OPT) $(CWARN) $(CSTANDARD) $(CEXTRA) +CXXFLAGS = $(CDEFS) $(INCLUDE) -O$(OPT) +#ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs +LDFLAGS = + + +# Programming support using avrdude. Settings and variables. +AVRDUDE_PROGRAMMER = stk500 +AVRDUDE_PORT = $(PORT) +AVRDUDE_WRITE_FLASH = -U flash:w:applet/$(TARGET).hex +AVRDUDE_FLAGS = -F -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) \ + -b $(UPLOAD_RATE) -q -V + +# Program settings +ARDUINO_AVR_BIN = $(ARDUINO_TOOLS)/avr/bin +CC = $(ARDUINO_AVR_BIN)/avr-gcc +CXX = $(ARDUINO_AVR_BIN)/avr-g++ +OBJCOPY = $(ARDUINO_AVR_BIN)/avr-objcopy +OBJDUMP = $(ARDUINO_AVR_BIN)/avr-objdump +SIZE = $(ARDUINO_AVR_BIN)/avr-size +NM = $(ARDUINO_AVR_BIN)/avr-nm +#AVRDUDE = $(ARDUINO_AVR_BIN)/avrdude +AVRDUDE = avrdude +REMOVE = rm -f +MV = mv -f + +# Define all object files. +OBJ = $(SRC:.c=.o) $(CXXSRC:.cpp=.o) $(ASRC:.S=.o) + +# Define all listing files. +LST = $(ASRC:.S=.lst) $(CXXSRC:.cpp=.lst) $(SRC:.c=.lst) + +# Combine all necessary flags and optional flags. +# Add target processor to flags. +ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) +ALL_CXXFLAGS = -mmcu=$(MCU) -I. $(CXXFLAGS) +ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS) + + +# Default target. +all: build + +build: applet/$(TARGET).hex + +eep: applet/$(TARGET).eep +lss: applet/$(TARGET).lss +sym: applet/$(TARGET).sym + + +# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB. +COFFCONVERT=$(OBJCOPY) --debugging \ +--change-section-address .data-0x800000 \ +--change-section-address .bss-0x800000 \ +--change-section-address .noinit-0x800000 \ +--change-section-address .eeprom-0x810000 + + +coff: applet/$(TARGET).elf + $(COFFCONVERT) -O coff-avr applet/$(TARGET).elf applet/$(TARGET).cof + + +extcoff: applet/$(TARGET).elf + $(COFFCONVERT) -O coff-ext-avr applet/$(TARGET).elf applet/$(TARGET).cof + + +.SUFFIXES: .elf .hex .eep .lss .sym .pde + +.elf.hex: + $(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@ + +.elf.eep: + -$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \ + --change-section-lma .eeprom=0 -O $(FORMAT) $< $@ + +# Create extended listing file from ELF output file. +.elf.lss: + $(OBJDUMP) -h -S $< > $@ + +# Create a symbol table from ELF output file. +.elf.sym: + $(NM) -n $< > $@ + + +# Compile: create object files from C++ source files. +.cpp.o: $(HEADERS) + $(CXX) -c $(ALL_CXXFLAGS) $< -o $@ + +# Compile: create object files from C source files. +.c.o: $(HEADERS) + $(CC) -c $(ALL_CFLAGS) $< -o $@ + + +# Compile: create assembler files from C source files. +.c.s: + $(CC) -S $(ALL_CFLAGS) $< -o $@ + + +# Assemble: create object files from assembler source files. +.S.o: + $(CC) -c $(ALL_ASFLAGS) $< -o $@ + + + +applet/$(TARGET).cpp: $(TARGET).pde + test -d applet || mkdir applet + echo '#include "WProgram.h"' > applet/$(TARGET).cpp + echo '#include "avr/interrupt.h"' >> applet/$(TARGET).cpp + sed -n 's|^\(void .*)\).*|\1;|p' $(TARGET).pde | grep -v 'setup()' | \ + grep -v 'loop()' >> applet/$(TARGET).cpp + cat $(TARGET).pde >> applet/$(TARGET).cpp + cat $(ARDUINO_SRC)/main.cxx >> applet/$(TARGET).cpp + +# Link: create ELF output file from object files. +applet/$(TARGET).elf: applet/$(TARGET).cpp $(OBJ) + $(CC) $(ALL_CFLAGS) $(OBJ) -lm --output $@ $(LDFLAGS) +# $(CC) $(ALL_CFLAGS) $(OBJ) $(ARDUINO_TOOLS)/avr/avr/lib/avr5/crtm168.o --output $@ $(LDFLAGS) + +pd_close_serial: + echo 'close;' | /Applications/Pd-extended.app/Contents/Resources/bin/pdsend 34567 || true + +# Program the device. +upload: applet/$(TARGET).hex + $(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) + + +pd_test: build pd_close_serial upload + +# Target: clean project. +clean: + $(REMOVE) -- applet/$(TARGET).hex applet/$(TARGET).eep \ + applet/$(TARGET).cof applet/$(TARGET).elf $(TARGET).map \ + applet/$(TARGET).sym applet/$(TARGET).lss applet/$(TARGET).cpp \ + $(OBJ) $(LST) $(SRC:.c=.s) $(SRC:.c=.d) $(CXXSRC:.cpp=.s) $(CXXSRC:.cpp=.d) + rmdir -- applet + +depend: + if grep '^# DO NOT DELETE' $(MAKEFILE) >/dev/null; \ + then \ + sed -e '/^# DO NOT DELETE/,$$d' $(MAKEFILE) > \ + $(MAKEFILE).$$$$ && \ + $(MV) $(MAKEFILE).$$$$ $(MAKEFILE); \ + fi + echo '# DO NOT DELETE THIS LINE -- make depend depends on it.' \ + >> $(MAKEFILE); \ + $(CC) -M -mmcu=$(MCU) $(CDEFS) $(INCLUDE) $(SRC) $(ASRC) >> $(MAKEFILE) + +.PHONY: all build eep lss sym coff extcoff clean depend pd_close_serial pd_test + +# for emacs +etags: + make etags_`uname -s` + etags *.pde \ + $(ARDUINO_SRC)/*.[ch] \ + $(ARDUINO_SRC)/*.cpp \ + $(ARDUINO_LIB_SRC)/*/*.[ch] \ + $(ARDUINO_LIB_SRC)/*/*.cpp \ + $(ARDUINO)/hardware/tools/avr/avr/include/avr/*.[ch] \ + $(ARDUINO)/hardware/tools/avr/avr/include/*.[ch] + +etags_Darwin: +# etags -a + +etags_Linux: +# etags -a /usr/include/*.h linux/input.h /usr/include/sys/*.h + +etags_MINGW: +# etags -a /usr/include/*.h /usr/include/sys/*.h + + +path: + echo $(PATH) + echo $$PATH + diff --git a/libraries/Firmata/examples/StandardFirmata/StandardFirmata.pde b/libraries/Firmata/examples/StandardFirmata/StandardFirmata.pde new file mode 100644 index 0000000..a6f9e6c --- /dev/null +++ b/libraries/Firmata/examples/StandardFirmata/StandardFirmata.pde @@ -0,0 +1,398 @@ +/* + 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. + + formatted using the GNU C formatting and indenting +*/ + +/* + * TODO: use Program Control to load stored profiles from EEPROM + */ + +#include +#include + +/*============================================================================== + * GLOBAL VARIABLES + *============================================================================*/ + +/* analog inputs */ +int analogInputsToReport = 0; // bitwise array to store pin reporting + +/* digital input ports */ +byte reportPINs[TOTAL_PORTS]; // 1 = report this port, 0 = silence +byte previousPINs[TOTAL_PORTS]; // previous 8 bits sent + +/* pins configuration */ +byte pinConfig[TOTAL_PINS]; // configuration of every pin +byte portConfigInputs[TOTAL_PORTS]; // each bit: 1 = pin in INPUT, 0 = anything else +int pinState[TOTAL_PINS]; // any value that has been written + +/* timer variables */ +unsigned long currentMillis; // store the current value from millis() +unsigned long previousMillis; // for comparison with currentMillis +int samplingInterval = 19; // how often to run the main loop (in ms) + +Servo servos[MAX_SERVOS]; + +/*============================================================================== + * FUNCTIONS + *============================================================================*/ + +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 (IS_PIN_SERVO(pin) && mode != SERVO && servos[PIN_TO_SERVO(pin)].attached()) { + servos[PIN_TO_SERVO(pin)].detach(); + } + if (IS_PIN_ANALOG(pin)) { + reportAnalogCallback(PIN_TO_ANALOG(pin), mode == ANALOG ? 1 : 0); // turn on/off reporting + } + if (IS_PIN_DIGITAL(pin)) { + if (mode == INPUT) { + portConfigInputs[pin/8] |= (1 << (pin & 7)); + } else { + portConfigInputs[pin/8] &= ~(1 << (pin & 7)); + } + } + pinState[pin] = 0; + switch(mode) { + case ANALOG: + if (IS_PIN_ANALOG(pin)) { + if (IS_PIN_DIGITAL(pin)) { + pinMode(PIN_TO_DIGITAL(pin), INPUT); // disable output driver + digitalWrite(PIN_TO_DIGITAL(pin), LOW); // disable internal pull-ups + } + pinConfig[pin] = ANALOG; + } + break; + case INPUT: + if (IS_PIN_DIGITAL(pin)) { + pinMode(PIN_TO_DIGITAL(pin), INPUT); // disable output driver + digitalWrite(PIN_TO_DIGITAL(pin), LOW); // disable internal pull-ups + pinConfig[pin] = INPUT; + } + break; + case OUTPUT: + if (IS_PIN_DIGITAL(pin)) { + digitalWrite(PIN_TO_DIGITAL(pin), LOW); // disable PWM + pinMode(PIN_TO_DIGITAL(pin), OUTPUT); + pinConfig[pin] = OUTPUT; + } + break; + case PWM: + if (IS_PIN_PWM(pin)) { + pinMode(PIN_TO_PWM(pin), OUTPUT); + analogWrite(PIN_TO_PWM(pin), 0); + pinConfig[pin] = PWM; + } + break; + case SERVO: + if (IS_PIN_SERVO(pin)) { + pinConfig[pin] = SERVO; + if (!servos[PIN_TO_SERVO(pin)].attached()) { + servos[PIN_TO_SERVO(pin)].attach(PIN_TO_DIGITAL(pin)); + } else { + Firmata.sendString("Servo only on pins from 2 to 13"); + } + } + break; + case I2C: + pinConfig[pin] = mode; + Firmata.sendString("I2C mode not yet supported"); + break; + default: + Firmata.sendString("Unknown pin mode"); // TODO: put error msgs in EEPROM + } + // TODO: save status to EEPROM here, if changed +} + +void analogWriteCallback(byte pin, int value) +{ + if (pin < TOTAL_PINS) { + switch(pinConfig[pin]) { + case SERVO: + if (IS_PIN_SERVO(pin)) + servos[PIN_TO_SERVO(pin)].write(value); + pinState[pin] = value; + break; + case PWM: + if (IS_PIN_PWM(pin)) + analogWrite(PIN_TO_PWM(pin), value); + pinState[pin] = value; + break; + } + } +} + +void digitalWriteCallback(byte port, int value) +{ + byte pin, lastPin, mask=1, pinWriteMask=0; + + if (port < TOTAL_PORTS) { + // create a mask of the pins on this port that are writable. + lastPin = port*8+8; + if (lastPin > TOTAL_PINS) lastPin = TOTAL_PINS; + for (pin=port*8; pin < lastPin; pin++) { + // do not disturb non-digital pins (eg, Rx & Tx) + if (IS_PIN_DIGITAL(pin)) { + // only write to OUTPUT and INPUT (enables pullup) + // do not touch pins in PWM, ANALOG, SERVO or other modes + if (pinConfig[pin] == OUTPUT || pinConfig[pin] == INPUT) { + pinWriteMask |= mask; + pinState[pin] = ((byte)value & mask) ? 1 : 0; + } + } + mask = mask << 1; + } + writePort(port, (byte)value, pinWriteMask); + } +} + + +// ----------------------------------------------------------------------------- +/* sets bits in a bit array (int) to toggle the reporting of the analogIns + */ +//void FirmataClass::setAnalogPinReporting(byte pin, byte state) { +//} +void reportAnalogCallback(byte analogPin, int value) +{ + if (analogPin < TOTAL_ANALOG_PINS) { + if(value == 0) { + analogInputsToReport = analogInputsToReport &~ (1 << analogPin); + } else { + analogInputsToReport = analogInputsToReport | (1 << analogPin); + } + } + // TODO: save status to EEPROM here, if changed +} + +void reportDigitalCallback(byte port, int value) +{ + if (port < TOTAL_PORTS) { + reportPINs[port] = (byte)value; + } + // do not disable analog reporting on these 8 pins, to allow some + // pins used for digital, others analog. Instead, allow both types + // of reporting to be enabled, but check if the pin is configured + // as analog when sampling the analog inputs. Likewise, while + // scanning digital pins, portConfigInputs will mask off values from any + // pins configured as analog +} + +/*============================================================================== + * SYSEX-BASED commands + *============================================================================*/ + +void sysexCallback(byte command, byte argc, byte *argv) +{ + switch(command) { + case SERVO_CONFIG: + if(argc > 4) { + // these vars are here for clarity, they'll optimized away by the compiler + byte pin = argv[0]; + int minPulse = argv[1] + (argv[2] << 7); + int maxPulse = argv[3] + (argv[4] << 7); + + if (IS_PIN_SERVO(pin)) { + // servos are pins from 2 to 13, so offset for array + if (servos[PIN_TO_SERVO(pin)].attached()) + servos[PIN_TO_SERVO(pin)].detach(); + servos[PIN_TO_SERVO(pin)].attach(PIN_TO_DIGITAL(pin), minPulse, maxPulse); + setPinModeCallback(pin, SERVO); + } + } + break; + case SAMPLING_INTERVAL: + if (argc > 1) + samplingInterval = argv[0] + (argv[1] << 7); + else + Firmata.sendString("Not enough data"); + break; + case EXTENDED_ANALOG: + if (argc > 1) { + int val = argv[1]; + if (argc > 2) val |= (argv[2] << 7); + if (argc > 3) val |= (argv[3] << 14); + analogWriteCallback(argv[0], val); + } + break; + case CAPABILITY_QUERY: + Serial.write(START_SYSEX); + Serial.write(CAPABILITY_RESPONSE); + for (byte pin=0; pin < TOTAL_PINS; pin++) { + if (IS_PIN_DIGITAL(pin)) { + Serial.write((byte)INPUT); + Serial.write(1); + Serial.write((byte)OUTPUT); + Serial.write(1); + } + if (IS_PIN_ANALOG(pin)) { + Serial.write(ANALOG); + Serial.write(10); + } + if (IS_PIN_PWM(pin)) { + Serial.write(PWM); + Serial.write(8); + } + if (IS_PIN_SERVO(pin)) { + Serial.write(SERVO); + Serial.write(14); + } + Serial.write(127); + } + Serial.write(END_SYSEX); + break; + case PIN_STATE_QUERY: + if (argc > 0) { + byte pin=argv[0]; + Serial.write(START_SYSEX); + Serial.write(PIN_STATE_RESPONSE); + Serial.write(pin); + if (pin < TOTAL_PINS) { + Serial.write((byte)pinConfig[pin]); + Serial.write((byte)pinState[pin] & 0x7F); + if (pinState[pin] & 0xFF80) Serial.write((byte)(pinState[pin] >> 7) & 0x7F); + if (pinState[pin] & 0xC000) Serial.write((byte)(pinState[pin] >> 14) & 0x7F); + } + Serial.write(END_SYSEX); + } + break; + case ANALOG_MAPPING_QUERY: + Serial.write(START_SYSEX); + Serial.write(ANALOG_MAPPING_RESPONSE); + for (byte pin=0; pin < TOTAL_PINS; pin++) { + Serial.write(IS_PIN_ANALOG(pin) ? PIN_TO_ANALOG(pin) : 127); + } + Serial.write(END_SYSEX); + break; + } +} + + +/*============================================================================== + * SETUP() + *============================================================================*/ +void setup() +{ + byte i; + + Firmata.setFirmwareVersion(2, 2); + + Firmata.attach(ANALOG_MESSAGE, analogWriteCallback); + Firmata.attach(DIGITAL_MESSAGE, digitalWriteCallback); + Firmata.attach(REPORT_ANALOG, reportAnalogCallback); + Firmata.attach(REPORT_DIGITAL, reportDigitalCallback); + Firmata.attach(SET_PIN_MODE, setPinModeCallback); + Firmata.attach(START_SYSEX, sysexCallback); + + // TODO: load state from EEPROM here + + /* these are initialized to zero by the compiler startup code + for (i=0; i < TOTAL_PORTS; i++) { + reportPINs[i] = false; + portConfigInputs[i] = 0; + previousPINs[i] = 0; + } + */ + for (i=0; i < TOTAL_PINS; i++) { + if (IS_PIN_ANALOG(i)) { + // turns off pullup, configures everything + setPinModeCallback(i, ANALOG); + } else { + // sets the output to 0, configures portConfigInputs + setPinModeCallback(i, OUTPUT); + } + } + // by defult, do not report any analog inputs + analogInputsToReport = 0; + + Firmata.begin(57600); + + /* send digital inputs to set the initial state on the host computer, + * since once in the loop(), this firmware will only send on change */ + for (i=0; i < TOTAL_PORTS; i++) { + outputPort(i, readPort(i, portConfigInputs[i]), true); + } +} + +/*============================================================================== + * LOOP() + *============================================================================*/ +void loop() +{ + byte pin, analogPin; + + /* DIGITALREAD - as fast as possible, check for changes and output them to the + * FTDI buffer using Serial.print() */ + checkDigitalInputs(); + + /* SERIALREAD - processing incoming messagse as soon as possible, while still + * checking digital inputs. */ + while(Firmata.available()) + Firmata.processInput(); + + /* SEND FTDI WRITE BUFFER - make sure that the FTDI buffer doesn't go over + * 60 bytes. use a timer to sending an event character every 4 ms to + * trigger the buffer to dump. */ + + currentMillis = millis(); + if (currentMillis - previousMillis > samplingInterval) { + previousMillis += samplingInterval; + /* ANALOGREAD - do all analogReads() at the configured sampling interval */ + for(pin=0; pin