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Updating to the latest version of Firmata (rev. 41).

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This commit is contained in:
David A. Mellis
2009-12-29 18:01:06 +00:00
parent 6672d51d56
commit c22d9942ee
3 changed files with 33 additions and 20 deletions
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40
libraries/Firmata/examples/StandardFirmata/StandardFirmata.pde
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@ -11,9 +11,7 @@
formatted using the GNU C formatting and indenting
*/
/*
* TODO: add Servo support using setPinModeCallback(pin, SERVO);
* TODO: use Program Control to load stored profiles from EEPROM
*/
@ -39,7 +37,7 @@ unsigned long currentMillis; // store the current value from millis()
unsigned long nextExecuteMillis; // for comparison with currentMillis
int samplingInterval = 19; // how often to run the main loop (in ms)
Servo servos[2]; // the servo library can control servos on pins 9 and 10 only
Servo servos[MAX_SERVOS];
/*==============================================================================
* FUNCTIONS
@ -99,6 +97,9 @@ void setPinModeCallback(byte pin, int mode) {
}
if(pin > 1) { // ignore RxTx (pins 0 and 1)
if (isServoSupportedPin(pin) && mode != SERVO)
if (servos[pin - FIRST_SERVO_PIN].attached())
servos[pin - FIRST_SERVO_PIN].detach();
if(pin > 13)
reportAnalogCallback(pin - 14, mode == ANALOG ? 1 : 0); // turn on/off reporting
switch(mode) {
@ -117,10 +118,13 @@ void setPinModeCallback(byte pin, int mode) {
portStatus[port] = portStatus[port] | (1 << (pin - offset));
break;
case SERVO:
if((pin == 9 || pin == 10))
// TODO: Support Arduino Mega
if (isServoSupportedPin(pin)) {
pinStatus[pin] = mode;
else
Firmata.sendString("Servo only on pins 9 and 10");
if (!servos[pin - FIRST_SERVO_PIN].attached())
servos[pin - FIRST_SERVO_PIN].attach(pin);
} else
Firmata.sendString("Servo only on pins from 2 to 13");
break;
case I2C:
pinStatus[pin] = mode;
@ -137,8 +141,8 @@ void analogWriteCallback(byte pin, int value)
{
switch(pinStatus[pin]) {
case SERVO:
if(pin == 9) servos[0].write(value);
if(pin == 10) servos[1].write(value);
if (isServoSupportedPin(pin))
servos[pin - FIRST_SERVO_PIN].write(value);
break;
case PWM:
analogWrite(pin, value);
@ -179,7 +183,6 @@ void reportAnalogCallback(byte pin, int value)
}
else { // everything but 0 enables reporting of that pin
analogInputsToReport = analogInputsToReport | (1 << pin);
setPinModeCallback(pin, ANALOG);
}
// TODO: save status to EEPROM here, if changed
}
@ -201,12 +204,17 @@ void sysexCallback(byte command, byte argc, byte *argv)
case SERVO_CONFIG:
if(argc > 4) {
// these vars are here for clarity, they'll optimized away by the compiler
byte pin = argv[0] - 9; // servos are pins 9 and 10, so offset for array
byte pin = argv[0];
int minPulse = argv[1] + (argv[2] << 7);
int maxPulse = argv[3] + (argv[4] << 7);
servos[pin].attach(argv[0], minPulse, maxPulse);
// TODO does the Servo have to be detach()ed before reconfiguring?
setPinModeCallback(pin, SERVO);
if (isServoSupportedPin(pin)) {
// servos are pins from 2 to 13, so offset for array
if (servos[pin - FIRST_SERVO_PIN].attached())
servos[pin - FIRST_SERVO_PIN].detach();
servos[pin - FIRST_SERVO_PIN].attach(pin, minPulse, maxPulse);
setPinModeCallback(pin, SERVO);
}
}
break;
case SAMPLING_INTERVAL:
@ -218,6 +226,10 @@ void sysexCallback(byte command, byte argc, byte *argv)
}
}
boolean isServoSupportedPin(byte pin)
{
return ((FIRST_SERVO_PIN <= pin) && (pin <= (FIRST_SERVO_PIN + MAX_SERVOS)));
}
/*==============================================================================
* SETUP()
@ -239,7 +251,7 @@ void setup()
portStatus[1] = B11000000; // ignore 14/15 pins
portStatus[2] = B00000000;
for(i=0; i<TOTAL_DIGITAL_PINS; ++i) { // TODO make this work with analogs
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