mirror of
https://github.com/esp8266/Arduino.git
synced 2025-07-30 16:24:09 +03:00
Updating Firmata (to r62 of their repository).
Changes include (according to Paul Stoffregen): "1: Hardware abstraction layer to support Arduino Mega, Teensy and Sanguino. 2: Extended analog message, to facilitate using PWM and Servo above pin 15. 3: Capability queries (alpha), to allow automatic discovery of any board's features."
This commit is contained in:
David A. Mellis
@ -15,8 +15,8 @@
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* TODO: use Program Control to load stored profiles from EEPROM
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*/
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#include <Firmata.h>
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#include <Servo.h>
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#include <Firmata.h>
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/*==============================================================================
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* GLOBAL VARIABLES
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@ -24,18 +24,20 @@
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/* analog inputs */
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int analogInputsToReport = 0; // bitwise array to store pin reporting
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int analogPin = 0; // counter for reading analog pins
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/* digital pins */
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byte reportPINs[TOTAL_PORTS]; // PIN == input port
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byte previousPINs[TOTAL_PORTS]; // PIN == input port
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byte pinStatus[TOTAL_DIGITAL_PINS]; // store pin status, default OUTPUT
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byte portStatus[TOTAL_PORTS];
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/* digital input ports */
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byte reportPINs[TOTAL_PORTS]; // 1 = report this port, 0 = silence
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byte previousPINs[TOTAL_PORTS]; // previous 8 bits sent
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/* pins configuration */
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byte pinConfig[TOTAL_PINS]; // configuration of every pin
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byte portConfigInputs[TOTAL_PORTS]; // each bit: 1 = pin in INPUT, 0 = anything else
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int pinState[TOTAL_PINS]; // any value that has been written
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/* timer variables */
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unsigned long currentMillis; // store the current value from millis()
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unsigned long nextExecuteMillis; // for comparison with currentMillis
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int samplingInterval = 19; // how often to run the main loop (in ms)
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unsigned long currentMillis; // store the current value from millis()
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unsigned long previousMillis; // for comparison with currentMillis
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int samplingInterval = 19; // how often to run the main loop (in ms)
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Servo servos[MAX_SERVOS];
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@ -43,10 +45,12 @@ Servo servos[MAX_SERVOS];
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* FUNCTIONS
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*============================================================================*/
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void outputPort(byte portNumber, byte portValue)
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void outputPort(byte portNumber, byte portValue, byte forceSend)
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{
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portValue = portValue &~ portStatus[portNumber];
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if(previousPINs[portNumber] != portValue) {
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// pins not configured as INPUT are cleared to zeros
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portValue = portValue & portConfigInputs[portNumber];
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// only send if the value is different than previously sent
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if(forceSend || previousPINs[portNumber] != portValue) {
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Firmata.sendDigitalPort(portNumber, portValue);
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previousPINs[portNumber] = portValue;
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}
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@ -57,140 +61,169 @@ void outputPort(byte portNumber, byte portValue)
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* to the Serial output queue using Serial.print() */
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void checkDigitalInputs(void)
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{
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byte i, tmp;
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for(i=0; i < TOTAL_PORTS; i++) {
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if(reportPINs[i]) {
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switch(i) {
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case 0:
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outputPort(0, PIND &~ B00000011); // ignore Rx/Tx 0/1
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break;
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case 1:
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outputPort(1, PINB);
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break;
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case ANALOG_PORT:
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outputPort(ANALOG_PORT, PINC);
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break;
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}
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}
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}
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/* Using non-looping code allows constants to be given to readPort().
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* The compiler will apply substantial optimizations if the inputs
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* to readPort() are compile-time constants. */
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if (TOTAL_PORTS > 0 && reportPINs[0]) outputPort(0, readPort(0, portConfigInputs[0]), false);
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if (TOTAL_PORTS > 1 && reportPINs[1]) outputPort(1, readPort(1, portConfigInputs[1]), false);
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if (TOTAL_PORTS > 2 && reportPINs[2]) outputPort(2, readPort(2, portConfigInputs[2]), false);
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if (TOTAL_PORTS > 3 && reportPINs[3]) outputPort(3, readPort(3, portConfigInputs[3]), false);
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if (TOTAL_PORTS > 4 && reportPINs[4]) outputPort(4, readPort(4, portConfigInputs[4]), false);
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if (TOTAL_PORTS > 5 && reportPINs[5]) outputPort(5, readPort(5, portConfigInputs[5]), false);
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if (TOTAL_PORTS > 6 && reportPINs[6]) outputPort(6, readPort(6, portConfigInputs[6]), false);
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if (TOTAL_PORTS > 7 && reportPINs[7]) outputPort(7, readPort(7, portConfigInputs[7]), false);
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if (TOTAL_PORTS > 8 && reportPINs[8]) outputPort(8, readPort(8, portConfigInputs[8]), false);
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if (TOTAL_PORTS > 9 && reportPINs[9]) outputPort(9, readPort(9, portConfigInputs[9]), false);
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if (TOTAL_PORTS > 10 && reportPINs[10]) outputPort(10, readPort(10, portConfigInputs[10]), false);
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if (TOTAL_PORTS > 11 && reportPINs[11]) outputPort(11, readPort(11, portConfigInputs[11]), false);
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if (TOTAL_PORTS > 12 && reportPINs[12]) outputPort(12, readPort(12, portConfigInputs[12]), false);
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if (TOTAL_PORTS > 13 && reportPINs[13]) outputPort(13, readPort(13, portConfigInputs[13]), false);
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if (TOTAL_PORTS > 14 && reportPINs[14]) outputPort(14, readPort(14, portConfigInputs[14]), false);
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if (TOTAL_PORTS > 15 && reportPINs[15]) outputPort(15, readPort(15, portConfigInputs[15]), false);
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}
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// -----------------------------------------------------------------------------
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/* sets the pin mode to the correct state and sets the relevant bits in the
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* two bit-arrays that track Digital I/O and PWM status
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*/
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void setPinModeCallback(byte pin, int mode) {
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byte port = 0;
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byte offset = 0;
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// TODO: abstract for different boards
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if (pin < 8) {
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port = 0;
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offset = 0;
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} else if (pin < 14) {
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port = 1;
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offset = 8;
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} else if (pin < 22) {
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port = 2;
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offset = 14;
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void setPinModeCallback(byte pin, int mode)
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{
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if (IS_PIN_SERVO(pin) && mode != SERVO && servos[PIN_TO_SERVO(pin)].attached()) {
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servos[PIN_TO_SERVO(pin)].detach();
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}
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if(pin > 1) { // ignore RxTx (pins 0 and 1)
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if (isServoSupportedPin(pin) && mode != SERVO)
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if (servos[pin - FIRST_SERVO_PIN].attached())
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servos[pin - FIRST_SERVO_PIN].detach();
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if(pin > 13)
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reportAnalogCallback(pin - 14, mode == ANALOG ? 1 : 0); // turn on/off reporting
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switch(mode) {
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case ANALOG:
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digitalWrite(pin, LOW); // disable internal pull-ups and fall thru to 'case INPUT:'
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case INPUT:
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pinStatus[pin] = mode;
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pinMode(pin, INPUT);
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portStatus[port] = portStatus[port] &~ (1 << (pin - offset));
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break;
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case OUTPUT:
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digitalWrite(pin, LOW); // disable PWM and fall thru to 'case PWM:'
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case PWM:
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pinStatus[pin] = mode;
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pinMode(pin, OUTPUT);
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portStatus[port] = portStatus[port] | (1 << (pin - offset));
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break;
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case SERVO:
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// TODO: Support Arduino Mega
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if (isServoSupportedPin(pin)) {
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pinStatus[pin] = mode;
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if (!servos[pin - FIRST_SERVO_PIN].attached())
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servos[pin - FIRST_SERVO_PIN].attach(pin);
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} else
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Firmata.sendString("Servo only on pins from 2 to 13");
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break;
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case I2C:
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pinStatus[pin] = mode;
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Firmata.sendString("I2C mode not yet supported");
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break;
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default:
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Firmata.sendString("Unknown pin mode"); // TODO: put error msgs in EEPROM
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if (IS_PIN_ANALOG(pin)) {
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reportAnalogCallback(PIN_TO_ANALOG(pin), mode == ANALOG ? 1 : 0); // turn on/off reporting
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}
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if (IS_PIN_DIGITAL(pin)) {
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if (mode == INPUT) {
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portConfigInputs[pin/8] |= (1 << (pin & 7));
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} else {
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portConfigInputs[pin/8] &= ~(1 << (pin & 7));
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}
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// TODO: save status to EEPROM here, if changed
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}
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pinState[pin] = 0;
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switch(mode) {
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case ANALOG:
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if (IS_PIN_ANALOG(pin)) {
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if (IS_PIN_DIGITAL(pin)) {
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pinMode(PIN_TO_DIGITAL(pin), INPUT); // disable output driver
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digitalWrite(PIN_TO_DIGITAL(pin), LOW); // disable internal pull-ups
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}
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pinConfig[pin] = ANALOG;
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}
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break;
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case INPUT:
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if (IS_PIN_DIGITAL(pin)) {
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pinMode(PIN_TO_DIGITAL(pin), INPUT); // disable output driver
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digitalWrite(PIN_TO_DIGITAL(pin), LOW); // disable internal pull-ups
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pinConfig[pin] = INPUT;
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}
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break;
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case OUTPUT:
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if (IS_PIN_DIGITAL(pin)) {
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digitalWrite(PIN_TO_DIGITAL(pin), LOW); // disable PWM
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pinMode(PIN_TO_DIGITAL(pin), OUTPUT);
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pinConfig[pin] = OUTPUT;
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}
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break;
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case PWM:
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if (IS_PIN_PWM(pin)) {
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pinMode(PIN_TO_PWM(pin), OUTPUT);
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analogWrite(PIN_TO_PWM(pin), 0);
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pinConfig[pin] = PWM;
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}
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break;
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case SERVO:
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if (IS_PIN_SERVO(pin)) {
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pinConfig[pin] = SERVO;
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if (!servos[PIN_TO_SERVO(pin)].attached()) {
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servos[PIN_TO_SERVO(pin)].attach(PIN_TO_DIGITAL(pin));
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} else {
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Firmata.sendString("Servo only on pins from 2 to 13");
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}
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}
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break;
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case I2C:
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pinConfig[pin] = mode;
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Firmata.sendString("I2C mode not yet supported");
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break;
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default:
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Firmata.sendString("Unknown pin mode"); // TODO: put error msgs in EEPROM
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}
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// TODO: save status to EEPROM here, if changed
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}
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void analogWriteCallback(byte pin, int value)
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{
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switch(pinStatus[pin]) {
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case SERVO:
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if (isServoSupportedPin(pin))
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servos[pin - FIRST_SERVO_PIN].write(value);
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break;
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case PWM:
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analogWrite(pin, value);
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break;
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if (pin < TOTAL_PINS) {
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switch(pinConfig[pin]) {
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case SERVO:
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if (IS_PIN_SERVO(pin))
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servos[PIN_TO_SERVO(pin)].write(value);
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pinState[pin] = value;
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break;
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case PWM:
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if (IS_PIN_PWM(pin))
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analogWrite(PIN_TO_PWM(pin), value);
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pinState[pin] = value;
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break;
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}
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}
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}
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void digitalWriteCallback(byte port, int value)
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{
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switch(port) {
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case 0: // pins 2-7 (don't change Rx/Tx, pins 0 and 1)
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// 0xFF03 == B1111111100000011 0x03 == B00000011
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PORTD = (value &~ 0xFF03) | (PORTD & 0x03);
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break;
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case 1: // pins 8-13 (14,15 are disabled for the crystal)
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PORTB = (byte)value;
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break;
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case 2: // analog pins used as digital
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byte pin;
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byte pinModeMask;
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for(pin=0; pin<8; pin++)
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if(pinStatus[pin] == OUTPUT)
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pinModeMask += 1 << pin;
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PORTC = (byte)value & pinModeMask;
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break;
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byte pin, lastPin, mask=1, pinWriteMask=0;
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if (port < TOTAL_PORTS) {
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// create a mask of the pins on this port that are writable.
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lastPin = port*8+8;
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if (lastPin > TOTAL_PINS) lastPin = TOTAL_PINS;
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for (pin=port*8; pin < lastPin; pin++) {
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// do not disturb non-digital pins (eg, Rx & Tx)
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if (IS_PIN_DIGITAL(pin)) {
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// only write to OUTPUT and INPUT (enables pullup)
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// do not touch pins in PWM, ANALOG, SERVO or other modes
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if (pinConfig[pin] == OUTPUT || pinConfig[pin] == INPUT) {
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pinWriteMask |= mask;
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pinState[pin] = ((byte)value & mask) ? 1 : 0;
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}
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}
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mask = mask << 1;
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}
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writePort(port, (byte)value, pinWriteMask);
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}
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}
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// -----------------------------------------------------------------------------
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/* sets bits in a bit array (int) to toggle the reporting of the analogIns
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*/
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//void FirmataClass::setAnalogPinReporting(byte pin, byte state) {
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//}
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void reportAnalogCallback(byte pin, int value)
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void reportAnalogCallback(byte analogPin, int value)
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{
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if(value == 0) {
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analogInputsToReport = analogInputsToReport &~ (1 << pin);
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}
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else { // everything but 0 enables reporting of that pin
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analogInputsToReport = analogInputsToReport | (1 << pin);
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if (analogPin < TOTAL_ANALOG_PINS) {
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if(value == 0) {
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analogInputsToReport = analogInputsToReport &~ (1 << analogPin);
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} else {
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analogInputsToReport = analogInputsToReport | (1 << analogPin);
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}
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}
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// TODO: save status to EEPROM here, if changed
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}
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void reportDigitalCallback(byte port, int value)
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{
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reportPINs[port] = (byte)value;
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if(port == ANALOG_PORT) // turn off analog reporting when used as digital
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analogInputsToReport = 0;
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if (port < TOTAL_PORTS) {
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reportPINs[port] = (byte)value;
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}
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// do not disable analog reporting on these 8 pins, to allow some
|
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// pins used for digital, others analog. Instead, allow both types
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// of reporting to be enabled, but check if the pin is configured
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// as analog when sampling the analog inputs. Likewise, while
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// scanning digital pins, portConfigInputs will mask off values from any
|
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// pins configured as analog
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}
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/*==============================================================================
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@ -207,11 +240,11 @@ void sysexCallback(byte command, byte argc, byte *argv)
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int minPulse = argv[1] + (argv[2] << 7);
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int maxPulse = argv[3] + (argv[4] << 7);
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if (isServoSupportedPin(pin)) {
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if (IS_PIN_SERVO(pin)) {
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// servos are pins from 2 to 13, so offset for array
|
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if (servos[pin - FIRST_SERVO_PIN].attached())
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servos[pin - FIRST_SERVO_PIN].detach();
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servos[pin - FIRST_SERVO_PIN].attach(pin, minPulse, maxPulse);
|
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if (servos[PIN_TO_SERVO(pin)].attached())
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servos[PIN_TO_SERVO(pin)].detach();
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servos[PIN_TO_SERVO(pin)].attach(PIN_TO_DIGITAL(pin), minPulse, maxPulse);
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setPinModeCallback(pin, SERVO);
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}
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}
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@ -222,13 +255,66 @@ void sysexCallback(byte command, byte argc, byte *argv)
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else
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Firmata.sendString("Not enough data");
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break;
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case EXTENDED_ANALOG:
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if (argc > 1) {
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int val = argv[1];
|
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if (argc > 2) val |= (argv[2] << 7);
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if (argc > 3) val |= (argv[3] << 14);
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analogWriteCallback(argv[0], val);
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}
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break;
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case CAPABILITY_QUERY:
|
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Serial.write(START_SYSEX);
|
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Serial.write(CAPABILITY_RESPONSE);
|
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for (byte pin=0; pin < TOTAL_PINS; pin++) {
|
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if (IS_PIN_DIGITAL(pin)) {
|
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Serial.write((byte)INPUT);
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Serial.write(1);
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Serial.write((byte)OUTPUT);
|
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Serial.write(1);
|
||||
}
|
||||
if (IS_PIN_ANALOG(pin)) {
|
||||
Serial.write(ANALOG);
|
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Serial.write(10);
|
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}
|
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if (IS_PIN_PWM(pin)) {
|
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Serial.write(PWM);
|
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Serial.write(8);
|
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}
|
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if (IS_PIN_SERVO(pin)) {
|
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Serial.write(SERVO);
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Serial.write(14);
|
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}
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Serial.write(127);
|
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}
|
||||
Serial.write(END_SYSEX);
|
||||
break;
|
||||
case PIN_STATE_QUERY:
|
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if (argc > 0) {
|
||||
byte pin=argv[0];
|
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Serial.write(START_SYSEX);
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Serial.write(PIN_STATE_RESPONSE);
|
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Serial.write(pin);
|
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if (pin < TOTAL_PINS) {
|
||||
Serial.write((byte)pinConfig[pin]);
|
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Serial.write((byte)pinState[pin] & 0x7F);
|
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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++) {
|
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Serial.write(IS_PIN_ANALOG(pin) ? PIN_TO_ANALOG(pin) : 127);
|
||||
}
|
||||
Serial.write(END_SYSEX);
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
boolean isServoSupportedPin(byte pin)
|
||||
{
|
||||
return ((FIRST_SERVO_PIN <= pin) && (pin <= (FIRST_SERVO_PIN + MAX_SERVOS)));
|
||||
}
|
||||
|
||||
/*==============================================================================
|
||||
* SETUP()
|
||||
@ -237,7 +323,7 @@ void setup()
|
||||
{
|
||||
byte i;
|
||||
|
||||
Firmata.setFirmwareVersion(2, 1);
|
||||
Firmata.setFirmwareVersion(2, 2);
|
||||
|
||||
Firmata.attach(ANALOG_MESSAGE, analogWriteCallback);
|
||||
Firmata.attach(DIGITAL_MESSAGE, digitalWriteCallback);
|
||||
@ -246,32 +332,34 @@ void setup()
|
||||
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 < FIRST_ANALOG_PIN; ++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[ANALOG_PORT]) outputPort(ANALOG_PORT, PINC);
|
||||
/* 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);
|
||||
}
|
||||
}
|
||||
|
||||
/*==============================================================================
|
||||
@ -279,23 +367,31 @@ void setup()
|
||||
*============================================================================*/
|
||||
void loop()
|
||||
{
|
||||
/* DIGITALREAD - as fast as possible, check for changes and output them */
|
||||
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 > nextExecuteMillis) {
|
||||
nextExecuteMillis = currentMillis + samplingInterval;
|
||||
/* 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. Ideally this could send an "event character" every 4 ms to
|
||||
* trigger the buffer to dump. */
|
||||
|
||||
/* ANALOGREAD - do all of the analogReads() once per poll cycle */
|
||||
for(analogPin=0;analogPin<TOTAL_ANALOG_PINS;analogPin++) {
|
||||
if( analogInputsToReport & (1 << analogPin) ) {
|
||||
Firmata.sendAnalog(analogPin, analogRead(analogPin));
|
||||
if (currentMillis - previousMillis > samplingInterval) {
|
||||
previousMillis += samplingInterval;
|
||||
/* ANALOGREAD - do all analogReads() at the configured sampling interval */
|
||||
for(pin=0; pin<TOTAL_PINS; pin++) {
|
||||
if (IS_PIN_ANALOG(pin) && pinConfig[pin] == ANALOG) {
|
||||
analogPin = PIN_TO_ANALOG(pin);
|
||||
if (analogInputsToReport & (1 << analogPin)) {
|
||||
Firmata.sendAnalog(analogPin, analogRead(analogPin));
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user