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Merge pull request #191 from firmata/ethernet
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Add StandardFirmataEthernet example
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@soundanalogous
soundanalogous committed Apr 12, 2015
2 parents b1a39bc + 4534570 commit 201af59
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2 changes: 1 addition & 1 deletion Firmata.cpp
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/*
Firmata.cpp - Firmata library v2.4.2 - 2015-3-16
Firmata.cpp - Firmata library v2.4.3 - 2015-4-11
Copyright (C) 2006-2008 Hans-Christoph Steiner. All rights reserved.
This library is free software; you can redistribute it and/or
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4 changes: 2 additions & 2 deletions Firmata.h
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/*
Firmata.h - Firmata library v2.4.2 - 2015-3-16
Firmata.h - Firmata library v2.4.3 - 2015-4-11
Copyright (C) 2006-2008 Hans-Christoph Steiner. All rights reserved.
This library is free software; you can redistribute it and/or
Expand All @@ -21,7 +21,7 @@
* installed firmware. */
#define FIRMATA_MAJOR_VERSION 2 // for non-compatible changes
#define FIRMATA_MINOR_VERSION 4 // for backwards compatible changes
#define FIRMATA_BUGFIX_VERSION 2 // for bugfix releases
#define FIRMATA_BUGFIX_VERSION 3 // for bugfix releases

#define MAX_DATA_BYTES 64 // max number of data bytes in incoming messages

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115 changes: 59 additions & 56 deletions examples/StandardFirmata/StandardFirmata.ino
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@@ -1,19 +1,17 @@
/*
* Firmata is a generic protocol for communicating with microcontrollers
* from software on a host computer. It is intended to work with
* any host computer software package.
*
* To download a host software package, please clink on the following link
* to open the download page in your default browser.
*
* http://firmata.org/wiki/Download
*/
Firmata is a generic protocol for communicating with microcontrollers
from software on a host computer. It is intended to work with
any host computer software package.
To download a host software package, please clink on the following link
to open the download page in your default browser.
https://github.com/firmata/arduino#firmata-client-libraries
/*
Copyright (C) 2006-2008 Hans-Christoph Steiner. All rights reserved.
Copyright (C) 2010-2011 Paul Stoffregen. All rights reserved.
Copyright (C) 2009 Shigeru Kobayashi. All rights reserved.
Copyright (C) 2009-2014 Jeff Hoefs. All rights reserved.
Copyright (C) 2009-2015 Jeff Hoefs. All rights reserved.
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
Expand All @@ -22,29 +20,25 @@
See file LICENSE.txt for further informations on licensing terms.
formatted using the GNU C formatting and indenting
Last updated by Jeff Hoefs: April 11, 2015
*/

/*
* TODO: use Program Control to load stored profiles from EEPROM
*/

#include <Servo.h>
#include <Wire.h>
#include <Firmata.h>

// move the following defines to Firmata.h?
#define I2C_WRITE B00000000
#define I2C_READ B00001000
#define I2C_READ_CONTINUOUSLY B00010000
#define I2C_STOP_READING B00011000
#define I2C_READ_WRITE_MODE_MASK B00011000
#define I2C_WRITE B00000000
#define I2C_READ B00001000
#define I2C_READ_CONTINUOUSLY B00010000
#define I2C_STOP_READING B00011000
#define I2C_READ_WRITE_MODE_MASK B00011000
#define I2C_10BIT_ADDRESS_MODE_MASK B00100000
#define MAX_QUERIES 8
#define REGISTER_NOT_SPECIFIED -1

#define MAX_QUERIES 8
// the minimum interval for sampling analog input
#define MINIMUM_SAMPLING_INTERVAL 10

#define REGISTER_NOT_SPECIFIED -1

/*==============================================================================
* GLOBAL VARIABLES
Expand All @@ -65,7 +59,7 @@ int pinState[TOTAL_PINS]; // any value that has been written
/* timer variables */
unsigned long currentMillis; // store the current value from millis()
unsigned long previousMillis; // for comparison with currentMillis
unsigned int samplingInterval = 19; // how often to run the main loop (in ms)
unsigned int samplingInterval = 19; // how often to run the main loop (in ms)

/* i2c data */
struct i2c_device_info {
Expand All @@ -77,19 +71,38 @@ struct i2c_device_info {
/* for i2c read continuous more */
i2c_device_info query[MAX_QUERIES];

boolean isResetting = false;

byte i2cRxData[32];
boolean isI2CEnabled = false;
signed char queryIndex = -1;
unsigned int i2cReadDelayTime = 0; // default delay time between i2c read request and Wire.requestFrom()
// default delay time between i2c read request and Wire.requestFrom()
unsigned int i2cReadDelayTime = 0;

Servo servos[MAX_SERVOS];
byte servoPinMap[TOTAL_PINS];
byte detachedServos[MAX_SERVOS];
byte detachedServoCount = 0;
byte servoCount = 0;

boolean isResetting = false;

/* utility functions */
void wireWrite(byte data)
{
#if ARDUINO >= 100
Wire.write((byte)data);
#else
Wire.send(data);
#endif
}

byte wireRead(void)
{
#if ARDUINO >= 100
return Wire.read();
#else
return Wire.receive();
#endif
}

/*==============================================================================
* FUNCTIONS
Expand Down Expand Up @@ -139,11 +152,7 @@ void readAndReportData(byte address, int theRegister, byte numBytes) {
// do not always require the register read so upon interrupt you call Wire.requestFrom()
if (theRegister != REGISTER_NOT_SPECIFIED) {
Wire.beginTransmission(address);
#if ARDUINO >= 100
Wire.write((byte)theRegister);
#else
Wire.send((byte)theRegister);
#endif
wireWrite((byte)theRegister);
Wire.endTransmission();
// do not set a value of 0
if (i2cReadDelayTime > 0) {
Expand All @@ -158,20 +167,16 @@ void readAndReportData(byte address, int theRegister, byte numBytes) {

// check to be sure correct number of bytes were returned by slave
if (numBytes < Wire.available()) {
Firmata.sendString("I2C Read Error: Too many bytes received");
Firmata.sendString("I2C: Too many bytes received");
} else if (numBytes > Wire.available()) {
Firmata.sendString("I2C Read Error: Too few bytes received");
Firmata.sendString("I2C: Too few bytes received");
}

i2cRxData[0] = address;
i2cRxData[1] = theRegister;

for (int i = 0; i < numBytes && Wire.available(); i++) {
#if ARDUINO >= 100
i2cRxData[2 + i] = Wire.read();
#else
i2cRxData[2 + i] = Wire.receive();
#endif
i2cRxData[2 + i] = wireRead();
}

// send slave address, register and received bytes
Expand Down Expand Up @@ -221,6 +226,9 @@ void checkDigitalInputs(void)
*/
void setPinModeCallback(byte pin, int mode)
{
if (pinConfig[pin] == IGNORE)
return;

if (pinConfig[pin] == I2C && isI2CEnabled && mode != I2C) {
// disable i2c so pins can be used for other functions
// the following if statements should reconfigure the pins properly
Expand All @@ -246,15 +254,15 @@ void setPinModeCallback(byte pin, int mode)
case ANALOG:
if (IS_PIN_ANALOG(pin)) {
if (IS_PIN_DIGITAL(pin)) {
pinMode(PIN_TO_DIGITAL(pin), INPUT); // disable output driver
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
pinMode(PIN_TO_DIGITAL(pin), INPUT); // disable output driver
digitalWrite(PIN_TO_DIGITAL(pin), LOW); // disable internal pull-ups
pinConfig[pin] = INPUT;
}
Expand Down Expand Up @@ -409,11 +417,7 @@ void sysexCallback(byte command, byte argc, byte *argv)
Wire.beginTransmission(slaveAddress);
for (byte i = 2; i < argc; i += 2) {
data = argv[i] + (argv[i + 1] << 7);
#if ARDUINO >= 100
Wire.write(data);
#else
Wire.send(data);
#endif
wireWrite(data);
}
Wire.endTransmission();
delayMicroseconds(70);
Expand Down Expand Up @@ -541,19 +545,19 @@ void sysexCallback(byte command, byte argc, byte *argv)
}
if (IS_PIN_ANALOG(pin)) {
Firmata.write(ANALOG);
Firmata.write(10);
Firmata.write(10); // 10 = 10-bit resolution
}
if (IS_PIN_PWM(pin)) {
Firmata.write(PWM);
Firmata.write(8);
Firmata.write(8); // 8 = 8-bit resolution
}
if (IS_PIN_DIGITAL(pin)) {
Firmata.write(SERVO);
Firmata.write(14);
}
if (IS_PIN_I2C(pin)) {
Firmata.write(I2C);
Firmata.write(1); // to do: determine appropriate value
Firmata.write(1); // TODO: could assign a number to map to SCL or SDA
}
Firmata.write(127);
}
Expand Down Expand Up @@ -599,7 +603,6 @@ void enableI2CPins()

isI2CEnabled = true;

// is there enough time before the first I2C request to call this here?
Wire.begin();
}

Expand All @@ -617,14 +620,16 @@ void disableI2CPins() {
void systemResetCallback()
{
isResetting = true;

// initialize a defalt state
// TODO: option to load config from EEPROM instead of default

if (isI2CEnabled) {
disableI2CPins();
}

for (byte i = 0; i < TOTAL_PORTS; i++) {
reportPINs[i] = false; // by default, reporting off
reportPINs[i] = false; // by default, reporting off
portConfigInputs[i] = 0; // until activated
previousPINs[i] = 0;
}
Expand Down Expand Up @@ -687,14 +692,12 @@ void loop()
* FTDI buffer using Serial.print() */
checkDigitalInputs();

/* SERIALREAD - processing incoming messagse as soon as possible, while still
/* STREAMREAD - 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. */
// TODO - ensure that Stream buffer doesn't go over 60 bytes

currentMillis = millis();
if (currentMillis - previousMillis > samplingInterval) {
Expand Down
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