/* 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 StandardFirmata 2.0b3 extended with servo, wire (I2C) and sht functionality through SysEx The Servo and SHTSensor libraries can be found at http://arduinoglue.googlecode.com Erik Sjodin, 2008. http://www.eriksjodin.net */ /* * TODO: add Servo support using setPinMode(pin, SERVO); * TODO: use Program Control to load stored profiles from EEPROM */ #include #include #include /*============================================================================== * 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_DIGITAL_PINS]; // store pin status, default OUTPUT byte portStatus[TOTAL_PORTS]; int pos = 0; // variable to store the servo position /* timer variables */ unsigned long currentMillis; // store the current value from millis() unsigned long nextExecuteMillis; // for comparison with currentMillis /* servo */ #define SYSEX_SERVO_ATTACH 0x00 #define SYSEX_SERVO_DETACH 0x01 #define SYSEX_SERVO_WRITE 0x02 Servo servos[2]; /* shift register */ #define SYSEX_SHIFT 0x03 /*============================================================================== * 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 ANALOG_PORT: outputPort(ANALOG_PORT, 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 == ANALOG_PORT) // turn off analog reporting when used as digital analogInputsToReport = 0; } /* * */ void sysExCallback(byte command, byte argc, byte*argv) { int pin; switch(command) { case SYSEX_SERVO_ATTACH: pin=argv[0]; // the first byte is the pin if(pin==9 || pin==10){ setPinModeCallback(pin, SERVO); int minPulse=getValueFromTwo7bitBytes(argv[1], argv[2]); int maxPulse=getValueFromTwo7bitBytes(argv[3], argv[4]); servos[pin-9].attach(pin, minPulse, maxPulse); } break; case SYSEX_SERVO_DETACH: pin=argv[0]; // the first byte is the pin if(pin==9 || pin==10) { servos[pin-9].detach(); } break; case SYSEX_SERVO_WRITE: pin=argv[0]; // the first byte is the pin if(pin==9 || pin==10){ int value=getValueFromTwo7bitBytes(argv[1], argv[2]); servos[pin-9].write(value); } break; case SYSEX_SHIFT: byte dataPin=argv[0]; // the first byte is the data pin byte clockPin=argv[1]; // the second byte is the clockpin byte latchPin=argv[2]; // the third byte is the latch pin byte msbFirst=argv[3]; // the fourth is the most significant versus least signifincant byte first int data; digitalWrite(latchPin, LOW); data= getValueFromTwo7bitBytes(argv[6], argv[7]); shiftOut(dataPin, clockPin, msbFirst , data); data= getValueFromTwo7bitBytes(argv[4], argv[5]); shiftOut(dataPin, clockPin, msbFirst , data); digitalWrite(latchPin, HIGH); break; } } // ----------------------------------------------------------------------------- /* Some data is sent split into two 7-bit bytes * this helper function merges two 7-bit bytes back. * The reason why two bytes are needed to send a byte is that the 8th bit serves as a flag to mark a byte as either command or data. * therefore you need two data bytes to send 8-bits (a byte). */ int getValueFromTwo7bitBytes(byte lsb, byte msb){ return (msb << 7) | lsb; } /*============================================================================== * 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); Firmata.attach(START_SYSEX, sysExCallback); portStatus[0] = B00000011; // ignore Tx/RX pins portStatus[1] = B11000000; // ignore 14/15 pins portStatus[2] = B00000000; // for(i=0; i nextExecuteMillis) { nextExecuteMillis = currentMillis + 19; // 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