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@ -1,5 +1,19 @@
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/*
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* Firmata is a generic protocol for communicating with microcontrollers
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* from software on a host computer. It is intended to work with
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* any host computer software package.
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*
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* To download a host software package, please clink on the following link
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* to open the download page in your default browser.
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*
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* http://firmata.org/wiki/Download
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*/
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/*
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Copyright (C) 2006-2008 Hans-Christoph Steiner. All rights reserved.
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Copyright (C) 2010-2011 Paul Stoffregen. All rights reserved.
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Copyright (C) 2009 Shigeru Kobayashi. All rights reserved.
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Copyright (C) 2009-2011 Jeff Hoefs. All rights reserved.
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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@ -16,8 +30,22 @@
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*/
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#include <Servo.h>
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#include <Wire.h>
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#include <Firmata.h>
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// move the following defines to Firmata.h?
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#define I2C_WRITE B00000000
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#define I2C_READ B00001000
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#define I2C_READ_CONTINUOUSLY B00010000
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#define I2C_STOP_READING B00011000
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#define I2C_READ_WRITE_MODE_MASK B00011000
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#define I2C_10BIT_ADDRESS_MODE_MASK B00100000
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#define MAX_QUERIES 8
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#define MINIMUM_SAMPLING_INTERVAL 10
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#define REGISTER_NOT_SPECIFIED -1
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/*==============================================================================
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* GLOBAL VARIABLES
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*============================================================================*/
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@ -39,12 +67,69 @@ 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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/* i2c data */
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struct i2c_device_info {
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byte addr;
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byte reg;
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byte bytes;
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};
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/* for i2c read continuous more */
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i2c_device_info query[MAX_QUERIES];
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byte i2cRxData[32];
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boolean isI2CEnabled = false;
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signed char queryIndex = -1;
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unsigned int i2cReadDelayTime = 0; // default delay time between i2c read request and Wire.requestFrom()
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Servo servos[MAX_SERVOS];
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/*==============================================================================
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* FUNCTIONS
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*============================================================================*/
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void readAndReportData(byte address, int theRegister, byte numBytes) {
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// allow I2C requests that don't require a register read
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// for example, some devices using an interrupt pin to signify new data available
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// do not always require the register read so upon interrupt you call Wire.requestFrom()
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if (theRegister != REGISTER_NOT_SPECIFIED) {
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Wire.beginTransmission(address);
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#if ARDUINO >= 100
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Wire.write((byte)theRegister);
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#else
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Wire.send((byte)theRegister);
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#endif
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Wire.endTransmission();
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delayMicroseconds(i2cReadDelayTime); // delay is necessary for some devices such as WiiNunchuck
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} else {
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theRegister = 0; // fill the register with a dummy value
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}
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Wire.requestFrom(address, numBytes); // all bytes are returned in requestFrom
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// check to be sure correct number of bytes were returned by slave
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if(numBytes == Wire.available()) {
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i2cRxData[0] = address;
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i2cRxData[1] = theRegister;
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for (int i = 0; i < numBytes; i++) {
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#if ARDUINO >= 100
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i2cRxData[2 + i] = Wire.read();
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#else
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i2cRxData[2 + i] = Wire.receive();
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#endif
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}
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}
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else {
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if(numBytes > Wire.available()) {
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Firmata.sendString("I2C Read Error: Too many bytes received");
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} else {
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Firmata.sendString("I2C Read Error: Too few bytes received");
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}
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}
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// send slave address, register and received bytes
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Firmata.sendSysex(SYSEX_I2C_REPLY, numBytes + 2, i2cRxData);
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}
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void outputPort(byte portNumber, byte portValue, byte forceSend)
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{
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// pins not configured as INPUT are cleared to zeros
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@ -88,6 +173,11 @@ void checkDigitalInputs(void)
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*/
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void setPinModeCallback(byte pin, int mode)
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{
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if (pinConfig[pin] == I2C && isI2CEnabled && mode != I2C) {
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// disable i2c so pins can be used for other functions
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// the following if statements should reconfigure the pins properly
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disableI2CPins();
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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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@ -138,14 +228,15 @@ void setPinModeCallback(byte pin, int mode)
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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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if (IS_PIN_I2C(pin)) {
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// mark the pin as i2c
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// the user must call I2C_CONFIG to enable I2C for a device
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pinConfig[pin] = I2C;
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}
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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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@ -232,7 +323,104 @@ void reportDigitalCallback(byte port, int value)
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void sysexCallback(byte command, byte argc, byte *argv)
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{
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byte mode;
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byte slaveAddress;
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byte slaveRegister;
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byte data;
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unsigned int delayTime;
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switch(command) {
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case I2C_REQUEST:
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mode = argv[1] & I2C_READ_WRITE_MODE_MASK;
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if (argv[1] & I2C_10BIT_ADDRESS_MODE_MASK) {
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Firmata.sendString("10-bit addressing mode is not yet supported");
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return;
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}
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else {
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slaveAddress = argv[0];
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}
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switch(mode) {
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case I2C_WRITE:
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Wire.beginTransmission(slaveAddress);
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for (byte i = 2; i < argc; i += 2) {
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data = argv[i] + (argv[i + 1] << 7);
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#if ARDUINO >= 100
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Wire.write(data);
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#else
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Wire.send(data);
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#endif
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}
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Wire.endTransmission();
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delayMicroseconds(70);
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break;
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case I2C_READ:
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if (argc == 6) {
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// a slave register is specified
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slaveRegister = argv[2] + (argv[3] << 7);
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data = argv[4] + (argv[5] << 7); // bytes to read
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readAndReportData(slaveAddress, (int)slaveRegister, data);
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}
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else {
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// a slave register is NOT specified
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data = argv[2] + (argv[3] << 7); // bytes to read
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readAndReportData(slaveAddress, (int)REGISTER_NOT_SPECIFIED, data);
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}
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break;
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case I2C_READ_CONTINUOUSLY:
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if ((queryIndex + 1) >= MAX_QUERIES) {
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// too many queries, just ignore
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Firmata.sendString("too many queries");
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break;
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}
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queryIndex++;
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query[queryIndex].addr = slaveAddress;
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query[queryIndex].reg = argv[2] + (argv[3] << 7);
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query[queryIndex].bytes = argv[4] + (argv[5] << 7);
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break;
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case I2C_STOP_READING:
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byte queryIndexToSkip;
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// if read continuous mode is enabled for only 1 i2c device, disable
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// read continuous reporting for that device
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if (queryIndex <= 0) {
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queryIndex = -1;
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} else {
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// if read continuous mode is enabled for multiple devices,
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// determine which device to stop reading and remove it's data from
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// the array, shifiting other array data to fill the space
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for (byte i = 0; i < queryIndex + 1; i++) {
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if (query[i].addr = slaveAddress) {
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queryIndexToSkip = i;
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break;
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}
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}
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for (byte i = queryIndexToSkip; i<queryIndex + 1; i++) {
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if (i < MAX_QUERIES) {
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query[i].addr = query[i+1].addr;
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query[i].reg = query[i+1].addr;
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query[i].bytes = query[i+1].bytes;
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}
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}
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queryIndex--;
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}
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break;
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default:
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break;
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}
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break;
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case I2C_CONFIG:
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delayTime = (argv[0] + (argv[1] << 7));
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if(delayTime > 0) {
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i2cReadDelayTime = delayTime;
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}
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if (!isI2CEnabled) {
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enableI2CPins();
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}
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break;
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case SERVO_CONFIG:
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if(argc > 4) {
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// these vars are here for clarity, they'll optimized away by the compiler
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@ -241,7 +429,6 @@ void sysexCallback(byte command, byte argc, byte *argv)
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int maxPulse = argv[3] + (argv[4] << 7);
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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_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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@ -250,10 +437,14 @@ void sysexCallback(byte command, byte argc, byte *argv)
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}
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break;
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case SAMPLING_INTERVAL:
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if (argc > 1)
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if (argc > 1) {
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samplingInterval = argv[0] + (argv[1] << 7);
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else
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Firmata.sendString("Not enough data");
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if (samplingInterval < MINIMUM_SAMPLING_INTERVAL) {
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samplingInterval = MINIMUM_SAMPLING_INTERVAL;
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}
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} else {
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//Firmata.sendString("Not enough data");
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}
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break;
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case EXTENDED_ANALOG:
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if (argc > 1) {
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@ -285,6 +476,10 @@ void sysexCallback(byte command, byte argc, byte *argv)
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Serial.write(SERVO);
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Serial.write(14);
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}
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if (IS_PIN_I2C(pin)) {
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Serial.write(I2C);
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Serial.write(1); // to do: determine appropriate value
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}
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Serial.write(127);
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}
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Serial.write(END_SYSEX);
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@ -315,33 +510,52 @@ void sysexCallback(byte command, byte argc, byte *argv)
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}
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}
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void enableI2CPins()
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{
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byte i;
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// is there a faster way to do this? would probaby require importing
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// Arduino.h to get SCL and SDA pins
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for (i=0; i < TOTAL_PINS; i++) {
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if(IS_PIN_I2C(i)) {
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// mark pins as i2c so they are ignore in non i2c data requests
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setPinModeCallback(i, I2C);
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}
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}
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isI2CEnabled = true;
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// is there enough time before the first I2C request to call this here?
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Wire.begin();
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}
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/* disable the i2c pins so they can be used for other functions */
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void disableI2CPins() {
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isI2CEnabled = false;
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// disable read continuous mode for all devices
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queryIndex = -1;
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// uncomment the following if or when the end() method is added to Wire library
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// Wire.end();
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}
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/*==============================================================================
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|
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* SETUP()
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|
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*============================================================================*/
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void setup()
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void systemResetCallback()
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{
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byte i;
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Firmata.setFirmwareVersion(FIRMATA_MAJOR_VERSION, FIRMATA_MINOR_VERSION);
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Firmata.attach(ANALOG_MESSAGE, analogWriteCallback);
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Firmata.attach(DIGITAL_MESSAGE, digitalWriteCallback);
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Firmata.attach(REPORT_ANALOG, reportAnalogCallback);
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Firmata.attach(REPORT_DIGITAL, reportDigitalCallback);
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Firmata.attach(SET_PIN_MODE, setPinModeCallback);
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Firmata.attach(START_SYSEX, sysexCallback);
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// TODO: load state from EEPROM here
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/* these are initialized to zero by the compiler startup code
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for (i=0; i < TOTAL_PORTS; i++) {
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reportPINs[i] = false;
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portConfigInputs[i] = 0;
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// initialize a defalt state
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// TODO: option to load config from EEPROM instead of default
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if (isI2CEnabled) {
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disableI2CPins();
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}
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for (byte i=0; i < TOTAL_PORTS; i++) {
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reportPINs[i] = false; // by default, reporting off
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portConfigInputs[i] = 0; // until activated
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previousPINs[i] = 0;
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}
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*/
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for (i=0; i < TOTAL_PINS; i++) {
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// pins with analog capability default to analog input
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// otherwise, pins default to digital output
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for (byte i=0; i < TOTAL_PINS; i++) {
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if (IS_PIN_ANALOG(i)) {
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// turns off pullup, configures everything
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setPinModeCallback(i, ANALOG);
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@ -350,16 +564,34 @@ void setup()
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setPinModeCallback(i, OUTPUT);
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}
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}
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// by defult, do not report any analog inputs
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// by default, do not report any analog inputs
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analogInputsToReport = 0;
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Firmata.begin(57600);
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/* send digital inputs to set the initial state on the host computer,
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* since once in the loop(), this firmware will only send on change */
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for (i=0; i < TOTAL_PORTS; i++) {
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/*
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TODO: this can never execute, since no pins default to digital input
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but it will be needed when/if we support EEPROM stored config
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for (byte i=0; i < TOTAL_PORTS; i++) {
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outputPort(i, readPort(i, portConfigInputs[i]), true);
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}
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*/
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}
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void setup()
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{
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Firmata.setFirmwareVersion(FIRMATA_MAJOR_VERSION, FIRMATA_MINOR_VERSION);
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Firmata.attach(ANALOG_MESSAGE, analogWriteCallback);
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Firmata.attach(DIGITAL_MESSAGE, digitalWriteCallback);
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Firmata.attach(REPORT_ANALOG, reportAnalogCallback);
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Firmata.attach(REPORT_DIGITAL, reportDigitalCallback);
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Firmata.attach(SET_PIN_MODE, setPinModeCallback);
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Firmata.attach(START_SYSEX, sysexCallback);
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Firmata.attach(SYSTEM_RESET, systemResetCallback);
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Firmata.begin(57600);
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systemResetCallback(); // reset to default config
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}
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/*==============================================================================
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@ -394,5 +626,11 @@ void loop()
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}
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}
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}
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// report i2c data for all device with read continuous mode enabled
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if (queryIndex > -1) {
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for (byte i = 0; i < queryIndex + 1; i++) {
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readAndReportData(query[i].addr, query[i].reg, query[i].bytes);
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}
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}
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}
|
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}
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David A. Mellis