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brought StandardFirmataYun up to date with StandardFirmata and added …
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…explanation of sketch purpose
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@soundanalogous
soundanalogous committed Apr 12, 2015
1 parent 407971b commit e2cede3
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1 change: 0 additions & 1 deletion examples/StandardFirmata/StandardFirmata.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -27,7 +27,6 @@
#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
Expand Down
161 changes: 82 additions & 79 deletions examples/StandardFirmataYun/StandardFirmataYun.ino
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Original file line number Diff line number Diff line change
@@ -1,15 +1,13 @@
/*
* 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.
Expand All @@ -23,29 +21,36 @@
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
*/
README
The Arduino Yun has both an Arduino (Atmega32u4) environment and a
Linux (Linino) environment.
StandardFirmataYun enables Firmata running on the Arduino environment
to communicate with a Firmata client application running on the Linux
environment.
*/

#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 @@ -66,7 +71,7 @@ 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 @@ -78,19 +83,38 @@ 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 All @@ -103,19 +127,16 @@ void attachServo(byte pin, int minPulse, int maxPulse)
if (detachedServoCount > 0) {
servoPinMap[pin] = detachedServos[detachedServoCount - 1];
if (detachedServoCount > 0) detachedServoCount--;
}
else {
} else {
servoPinMap[pin] = servoCount;
servoCount++;
}
if (minPulse > 0 && maxPulse > 0) {
servos[servoPinMap[pin]].attach(PIN_TO_DIGITAL(pin), minPulse, maxPulse);
}
else {
} else {
servos[servoPinMap[pin]].attach(PIN_TO_DIGITAL(pin));
}
}
else {
} else {
Firmata.sendString("Max servos attached");
}
}
Expand All @@ -127,8 +148,7 @@ void detachServo(byte pin)
// otherwise store the index of the detached servo
if (servoPinMap[pin] == servoCount && servoCount > 0) {
servoCount--;
}
else if (servoCount > 0) {
} else if (servoCount > 0) {
// keep track of detached servos because we want to reuse their indexes
// before incrementing the count of attached servos
detachedServoCount++;
Expand All @@ -144,41 +164,31 @@ 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) {
// delay is necessary for some devices such as WiiNunchuck
delayMicroseconds(i2cReadDelayTime);
}
}
else {
} else {
theRegister = 0; // fill the register with a dummy value
}

Wire.requestFrom(address, numBytes); // all bytes are returned in requestFrom

// 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");
}
else if (numBytes > Wire.available()) {
Firmata.sendString("I2C Read Error: Too few bytes received");
Firmata.sendString("I2C: Too many bytes received");
} else if (numBytes > Wire.available()) {
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 @@ -228,6 +238,9 @@ 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 @@ -244,8 +257,7 @@ void setPinModeCallback(byte pin, int mode)
if (IS_PIN_DIGITAL(pin)) {
if (mode == INPUT) {
portConfigInputs[pin / 8] |= (1 << (pin & 7));
}
else {
} else {
portConfigInputs[pin / 8] &= ~(1 << (pin & 7));
}
}
Expand All @@ -254,15 +266,15 @@ 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 @@ -417,11 +429,7 @@ 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 @@ -466,8 +474,7 @@ void sysexCallback(byte command, byte argc, byte *argv)
// read continuous reporting for that device
if (queryIndex <= 0) {
queryIndex = -1;
}
else {
} else {
// 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
Expand Down Expand Up @@ -526,8 +533,7 @@ void sysexCallback(byte command, byte argc, byte *argv)
if (samplingInterval < MINIMUM_SAMPLING_INTERVAL) {
samplingInterval = MINIMUM_SAMPLING_INTERVAL;
}
}
else {
} else {
//Firmata.sendString("Not enough data");
}
break;
Expand All @@ -551,19 +557,19 @@ 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 @@ -609,7 +615,6 @@ void enableI2CPins()

isI2CEnabled = true;

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

Expand All @@ -627,14 +632,16 @@ 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 All @@ -645,8 +652,7 @@ void systemResetCallback()
if (IS_PIN_ANALOG(i)) {
// turns off pullup, configures everything
setPinModeCallback(i, ANALOG);
}
else {
} else {
// sets the output to 0, configures portConfigInputs
setPinModeCallback(i, OUTPUT);
}
Expand All @@ -663,11 +669,11 @@ void systemResetCallback()
* 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);
}
*/
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;
}

Expand Down Expand Up @@ -710,14 +716,12 @@ 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 All @@ -739,4 +743,3 @@ void loop()
}
}
}

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