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update AVR src
* java code not tested * Merge remote-tracking branch 'remotes/arduino/master' into esp8266 Conflicts: README.md app/src/processing/app/AbstractMonitor.java arduino-core/src/processing/app/Serial.java libraries/WiFi/examples/WiFiWebClientRepeating/WiFiWebClientRepeating.ino libraries/WiFi/library.properties
This commit is contained in:
Markus Sattler
@ -3,7 +3,7 @@
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||||
The Audio library enables an Arduino Due board to play back .wav files from a storage device like an SD card.
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||||
|
||||
For more information about this library please visit us at
|
||||
http://arduino.cc/en/Reference/Audio
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||||
http://www.arduino.cc/en/Reference/Audio
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||||
|
||||
== License ==
|
||||
|
||||
|
||||
@ -14,7 +14,7 @@
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||||
|
||||
This example code is in the public domain
|
||||
|
||||
http://arduino.cc/en/Tutorial/SimpleAudioPlayer
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http://www.arduino.cc/en/Tutorial/SimpleAudioPlayer
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||||
*/
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||||
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@ -1,9 +1,9 @@
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name=Audio
|
||||
version=1.0.2
|
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version=1.0.3
|
||||
author=Arduino
|
||||
maintainer=Arduino <info@arduino.cc>
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||||
sentence=Allows playing audio files from an SD card. For Arduino DUE only.
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paragraph=With this library you can use the Arduino Due DAC outputs to play audio files.<br />The audio files must be in the raw .wav format.
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||||
category=Signal Input/Output
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||||
url=http://arduino.cc/en/Reference/Audio
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||||
url=http://www.arduino.cc/en/Reference/Audio
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||||
architectures=sam
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||||
|
||||
@ -3,7 +3,7 @@
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||||
The Bridge library simplifies communication between the ATmega32U4 and the AR9331.
|
||||
|
||||
For more information about this library please visit us at
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||||
http://arduino.cc/en/Reference/YunBridgeLibrary
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||||
http://www.arduino.cc/en/Reference/YunBridgeLibrary
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||||
|
||||
== License ==
|
||||
|
||||
|
||||
@ -18,7 +18,7 @@
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||||
|
||||
This example code is part of the public domain
|
||||
|
||||
http://arduino.cc/en/Tutorial/Bridge
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||||
http://www.arduino.cc/en/Tutorial/Bridge
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||||
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||||
*/
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||||
|
||||
|
||||
@ -19,7 +19,7 @@
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||||
|
||||
This example code is in the public domain.
|
||||
|
||||
http://arduino.cc/en/Tutorial/ConsoleAsciiTable
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||||
http://www.arduino.cc/en/Tutorial/ConsoleAsciiTable
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||||
|
||||
*/
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||||
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||||
|
||||
@ -23,7 +23,7 @@
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||||
|
||||
This example code is in the public domain.
|
||||
|
||||
http://arduino.cc/en/Tutorial/ConsolePixel
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||||
http://www.arduino.cc/en/Tutorial/ConsolePixel
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||||
|
||||
*/
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||||
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||||
|
||||
@ -17,7 +17,7 @@
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||||
|
||||
This example code is in the public domain.
|
||||
|
||||
http://arduino.cc/en/Tutorial/ConsoleRead
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http://www.arduino.cc/en/Tutorial/ConsoleRead
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||||
|
||||
*/
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||||
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@ -26,7 +26,7 @@
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||||
This example code is in the public domain.
|
||||
|
||||
http://arduino.cc/en/Tutorial/YunDatalogger
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||||
http://www.arduino.cc/en/Tutorial/YunDatalogger
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||||
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||||
*/
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||||
|
||||
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||||
@ -9,7 +9,7 @@
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||||
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||||
This example code is in the public domain.
|
||||
|
||||
http://arduino.cc/en/Tutorial/FileWriteScript
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||||
http://www.arduino.cc/en/Tutorial/FileWriteScript
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||||
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||||
*/
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||||
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||||
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||||
@ -11,7 +11,7 @@
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||||
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||||
This example code is in the public domain.
|
||||
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||||
http://arduino.cc/en/Tutorial/HttpClient
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http://www.arduino.cc/en/Tutorial/HttpClient
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||||
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||||
*/
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@ -37,7 +37,7 @@ void loop() {
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HttpClient client;
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// Make a HTTP request:
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client.get("http://arduino.cc/asciilogo.txt");
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client.get("http://www.arduino.cc/asciilogo.txt");
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// if there are incoming bytes available
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// from the server, read them and print them:
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||||
@ -15,7 +15,7 @@
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||||
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||||
This example code is in the public domain.
|
||||
|
||||
http://arduino.cc/en/Tutorial/MailboxReadMessage
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||||
http://www.arduino.cc/en/Tutorial/MailboxReadMessage
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||||
|
||||
*/
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||||
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||||
|
||||
@ -9,7 +9,7 @@
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||||
|
||||
This example code is in the public domain.
|
||||
|
||||
http://arduino.cc/en/Tutorial/Process
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||||
http://www.arduino.cc/en/Tutorial/Process
|
||||
|
||||
*/
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||||
@ -39,7 +39,7 @@ void runCurl() {
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// curl is command line program for transferring data using different internet protocols
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Process p; // Create a process and call it "p"
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p.begin("curl"); // Process that launch the "curl" command
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p.addParameter("http://arduino.cc/asciilogo.txt"); // Add the URL parameter to "curl"
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p.addParameter("http://www.arduino.cc/asciilogo.txt"); // Add the URL parameter to "curl"
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p.run(); // Run the process and wait for its termination
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||||
// Print arduino logo over the Serial
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||||
@ -17,7 +17,7 @@
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||||
|
||||
This example code is in the public domain.
|
||||
|
||||
http://arduino.cc/en/Tutorial/ShellCommands
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||||
http://www.arduino.cc/en/Tutorial/ShellCommands
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||||
|
||||
*/
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||||
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||||
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||||
@ -3,15 +3,44 @@
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Demonstrates sending an email via a Google Gmail account using Temboo from an Arduino Yún.
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||||
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||||
Check out the latest Arduino & Temboo examples and support docs at http://www.temboo.com/arduino
|
||||
Check out the latest Arduino & Temboo examples and tutorials at http://www.temboo.com/arduino
|
||||
|
||||
A Temboo account and application key are necessary to run all Temboo examples.
|
||||
If you don't already have one, you can register for a free Temboo account at
|
||||
http://www.temboo.com
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||||
|
||||
Since this sketch uses Gmail to send the email, you'll also need a valid
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Google Gmail account. The sketch needs the username and password you use
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to log into your Gmail account - substitute the placeholders below for these values.
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||||
Instructions:
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||||
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||||
1. Create a Temboo account: http://www.temboo.com
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||||
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||||
2. Retrieve your Temboo application details: http://www.temboo.com/account/applications
|
||||
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||||
3. Replace the values in the TembooAccount.h tab with your Temboo application details
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||||
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||||
4. You'll also need a Gmail account. Update the placeholder Gmail address in the code
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||||
below with your own details.
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||||
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||||
https://www.gmail.com
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||||
|
||||
5. Once you have a Gmail account, turn on 2-step authentication, and create an application-specific
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||||
password to allow Temboo to access your Google account: https://www.google.com/landing/2step/.
|
||||
|
||||
6. After you've enabled 2-Step authentication, you'll need to create an App Password:
|
||||
https://security.google.com/settings/security/apppasswords
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||||
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||||
7. In the "Select app" dropdown menu, choose "Other", and give your app a name (e.g., TembooApp).
|
||||
|
||||
8. Click "Generate". You'll be given a 16-digit passcode that can be used to access your Google Account from Temboo.
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||||
|
||||
9. Copy and paste this password into the code below, updating the GMAIL_APP_PASSWORD variable
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||||
|
||||
10. Upload the sketch to your Arduino Yún and open the serial monitor
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||||
|
||||
NOTE: You can test this Choreo and find the latest instructions on our website:
|
||||
https://temboo.com/library/Library/Google/Gmail/SendEmail
|
||||
|
||||
You can also find an in-depth version of this example here:
|
||||
https://temboo.com/arduino/yun/send-an-email
|
||||
|
||||
This example assumes basic familiarity with Arduino sketches, and that your Yún is connected
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||||
to the Internet.
|
||||
@ -34,8 +63,8 @@
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||||
// your Gmail username, formatted as a complete email address, eg "bob.smith@gmail.com"
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||||
const String GMAIL_USER_NAME = "xxxxxxxxxx";
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||||
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||||
// your Gmail password
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||||
const String GMAIL_PASSWORD = "xxxxxxxxxx";
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||||
// your application specific password (see instructions above)
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||||
const String GMAIL_APP_PASSWORD = "xxxxxxxxxx";
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||||
|
||||
// the email address you want to send the email to, eg "jane.doe@temboo.com"
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||||
const String TO_EMAIL_ADDRESS = "xxxxxxxxxx";
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||||
@ -82,8 +111,8 @@ void loop()
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||||
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||||
// the first input is your Gmail email address.
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||||
SendEmailChoreo.addInput("Username", GMAIL_USER_NAME);
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||||
// next is your Gmail password.
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||||
SendEmailChoreo.addInput("Password", GMAIL_PASSWORD);
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// next is your application specific password
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||||
SendEmailChoreo.addInput("Password", GMAIL_APP_PASSWORD);
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||||
// who to send the email to
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SendEmailChoreo.addInput("ToAddress", TO_EMAIL_ADDRESS);
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// then a subject line
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||||
@ -3,31 +3,49 @@
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||||
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||||
Demonstrates appending a row of data to a Google spreadsheet using Temboo from an Arduino Yún.
|
||||
|
||||
Check out the latest Arduino & Temboo examples and support docs at http://www.temboo.com/arduino
|
||||
Check out the latest Arduino & Temboo examples and tutorials at http://www.temboo.com/arduino
|
||||
|
||||
A Temboo account and application key are necessary to run all Temboo examples.
|
||||
If you don't already have one, you can register for a free Temboo account at
|
||||
http://www.temboo.com
|
||||
|
||||
Since this sketch uses a Google spreadsheet, you'll also need a
|
||||
Google account: substitute the placeholders below for your Google account values.
|
||||
|
||||
This example assumes basic familiarity with Arduino sketches, and that your
|
||||
Yún is connected to the Internet.
|
||||
|
||||
The columns in your spreadsheet must have labels for the Choreo to
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||||
work properly. It doesn't matter what the column labels actually are,
|
||||
but there must be text in the first row of each column. This example
|
||||
assumes there are two columns. The first column is the time (in milliseconds)
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||||
that the row was appended, and the second column is a sensor value.
|
||||
In other words, your spreadsheet should look like:
|
||||
Instructions:
|
||||
|
||||
1. Create a Temboo account: http://www.temboo.com
|
||||
|
||||
Time | Sensor Value |
|
||||
------+-----------------
|
||||
| |
|
||||
2. Retrieve your Temboo application details: http://www.temboo.com/account/applications
|
||||
|
||||
NOTE that the first time you run this sketch, you may receive a warning from
|
||||
Google, prompting you to authorize access from a 3rd party system.
|
||||
3. Replace the values in the TembooAccount.h tab with your Temboo application details
|
||||
|
||||
4. You'll also need a Google Spreadsheet that includes a title in the first row
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||||
of each column that data will be written to. This example assumes there are two columns.
|
||||
The first column is the time (in milliseconds) that the row was appended, and the second
|
||||
column is a sensor value. In other words, your spreadsheet should look like:
|
||||
|
||||
Time | Sensor Value |
|
||||
------+-----------------
|
||||
| |
|
||||
|
||||
5. Google Spreadsheets requires you to authenticate via OAuth. Follow the steps
|
||||
in the link below to find your ClientID, ClientSecret, and RefreshToken, and then
|
||||
use those values to overwrite the placeholders in the code below.
|
||||
|
||||
https://temboo.com/library/Library/Google/OAuth/
|
||||
|
||||
For the scope field, you need to use: https://spreadsheets.google.com/feeds/
|
||||
|
||||
Here's a video outlines how Temboo helps with the OAuth process:
|
||||
|
||||
https://www.temboo.com/videos#oauthchoreos
|
||||
|
||||
And here's a more in-depth version of this example on our website:
|
||||
|
||||
https://temboo.com/arduino/yun/update-google-spreadsheet
|
||||
|
||||
6. Next, upload the sketch to your Arduino Yún and open the serial monitor
|
||||
|
||||
Note: you can test this Choreo and find the latest instructions on our website:
|
||||
https://temboo.com/library/Library/Google/Spreadsheets/AppendRow/
|
||||
|
||||
Looking for another API to use with your Arduino Yún? We've got over 100 in our Library!
|
||||
|
||||
@ -46,8 +64,14 @@
|
||||
// Note that for additional security and reusability, you could
|
||||
// use #define statements to specify these values in a .h file.
|
||||
|
||||
const String GOOGLE_USERNAME = "your-google-username";
|
||||
const String GOOGLE_PASSWORD = "your-google-password";
|
||||
// the clientID found in Google's Developer Console under APIs & Auth > Credentials
|
||||
const String CLIENT_ID = "your-client-id";
|
||||
|
||||
// the clientSecret found in Google's Developer Console under APIs & Auth > Credentials
|
||||
const String CLIENT_SECRET = "your-client-secret";
|
||||
|
||||
// returned after running FinalizeOAuth
|
||||
const String REFRESH_TOKEN = "your-oauth-refresh-token";
|
||||
|
||||
// the title of the spreadsheet you want to send data to
|
||||
// (Note that this must actually be the title of a Google spreadsheet
|
||||
@ -112,11 +136,12 @@ void loop()
|
||||
// see https://www.temboo.com/library/Library/Google/Spreadsheets/AppendRow/
|
||||
// for complete details about the inputs for this Choreo
|
||||
|
||||
// your Google username (usually your email address)
|
||||
AppendRowChoreo.addInput("Username", GOOGLE_USERNAME);
|
||||
|
||||
// your Google account password
|
||||
AppendRowChoreo.addInput("Password", GOOGLE_PASSWORD);
|
||||
// your Google application client ID
|
||||
AppendRowChoreo.addInput("ClientID", CLIENT_ID);
|
||||
// your Google application client secert
|
||||
AppendRowChoreo.addInput("ClientSecret", CLIENT_SECRET);
|
||||
// your Google OAuth refresh token
|
||||
AppendRowChoreo.addInput("RefreshToken", REFRESH_TOKEN);
|
||||
|
||||
// the title of the spreadsheet you want to append to
|
||||
// NOTE: substitute your own value, retaining the "SpreadsheetTitle:" prefix.
|
||||
|
||||
@ -31,7 +31,7 @@
|
||||
|
||||
This example code is in the public domain.
|
||||
|
||||
http://arduino.cc/en/Tutorial/TemperatureWebPanel
|
||||
http://www.arduino.cc/en/Tutorial/TemperatureWebPanel
|
||||
|
||||
*/
|
||||
|
||||
@ -98,9 +98,9 @@ void loop() {
|
||||
Serial.println(timeString);
|
||||
int sensorValue = analogRead(A1);
|
||||
// convert the reading to millivolts:
|
||||
float voltage = sensorValue * (5000 / 1024);
|
||||
float voltage = sensorValue * (5000.0f / 1024.0f);
|
||||
// convert the millivolts to temperature celsius:
|
||||
float temperature = (voltage - 500) / 10;
|
||||
float temperature = (voltage - 500.0f) / 10.0f;
|
||||
// print the temperature:
|
||||
client.print("Current time on the Yún: ");
|
||||
client.println(timeString);
|
||||
|
||||
@ -10,7 +10,7 @@
|
||||
|
||||
This example code is in the public domain.
|
||||
|
||||
http://arduino.cc/en/Tutorial/TimeCheck
|
||||
http://www.arduino.cc/en/Tutorial/TimeCheck
|
||||
|
||||
*/
|
||||
|
||||
|
||||
@ -14,7 +14,7 @@
|
||||
|
||||
This example code is in the public domain.
|
||||
|
||||
http://arduino.cc/en/Tutorial/YunWiFiStatus
|
||||
http://www.arduino.cc/en/Tutorial/YunWiFiStatus
|
||||
|
||||
*/
|
||||
|
||||
|
||||
@ -27,7 +27,7 @@
|
||||
|
||||
This example code is in the public domain.
|
||||
|
||||
http://arduino.cc/en/Tutorial/YunSerialTerminal
|
||||
http://www.arduino.cc/en/Tutorial/YunSerialTerminal
|
||||
|
||||
*/
|
||||
|
||||
|
||||
@ -1,9 +1,9 @@
|
||||
name=Bridge
|
||||
version=1.0.4
|
||||
version=1.0.7
|
||||
author=Arduino
|
||||
maintainer=Arduino <info@arduino.cc>
|
||||
sentence=Enables the communication between the Linux processor and the AVR. For Arduino Yún and TRE only.
|
||||
paragraph=The Bridge library feature: access to the shared storage, run and manage linux processes, open a remote console, access to the linux file system, including the SD card, enstablish http clients or servers.
|
||||
category=Communication
|
||||
url=http://arduino.cc/en/Reference/YunBridgeLibrary
|
||||
url=http://www.arduino.cc/en/Reference/YunBridgeLibrary
|
||||
architectures=*
|
||||
|
||||
@ -3,7 +3,7 @@
|
||||
The library offers easy access to the data from the onboard Esplora's sensors, and provides the ability to change the state of the outputs.
|
||||
|
||||
For more information about this library please visit us at
|
||||
http://arduino.cc/en/Reference/EsploraLibrary
|
||||
http://www.arduino.cc/en/Reference/EsploraLibrary
|
||||
|
||||
== License ==
|
||||
|
||||
|
||||
@ -20,7 +20,7 @@
|
||||
Updated 8 March 2014
|
||||
by Scott Fitzgerald
|
||||
|
||||
http://arduino.cc/en/Reference/EsploraReadJoystickSwitch
|
||||
http://www.arduino.cc/en/Reference/EsploraReadJoystickSwitch
|
||||
|
||||
This example is in the public domain.
|
||||
*/
|
||||
|
||||
@ -1,9 +1,9 @@
|
||||
name=Esplora
|
||||
version=1.0.3
|
||||
version=1.0.4
|
||||
author=Arduino
|
||||
maintainer=Arduino <info@arduino.cc>
|
||||
sentence=Grants easy access to the various sensors and actuators of the Esplora. For Arduino Esplora only.
|
||||
paragraph=The sensors available on the board are:2-Axis analog joystick with center push-button,4 push-buttons,microphone, light sensor, temperature sensor, 3-axis accelerometer, 2 TinkerKit input connectors.</br>The actuators available on the board are: bright RGB LED, piezo buzzer, 2 TinkerKit output connectors.
|
||||
category=Device Control
|
||||
url=http://arduino.cc/en/Reference/EsploraLibrary
|
||||
url=http://www.arduino.cc/en/Reference/EsploraLibrary
|
||||
architectures=avr
|
||||
|
||||
@ -3,7 +3,7 @@
|
||||
With the Arduino Ethernet Shield, this library allows an Arduino board to connect to the internet.
|
||||
|
||||
For more information about this library please visit us at
|
||||
http://arduino.cc/en/Reference/Ethernet
|
||||
http://www.arduino.cc/en/Reference/Ethernet
|
||||
|
||||
== License ==
|
||||
|
||||
|
||||
@ -17,7 +17,7 @@
|
||||
modified 21 Jan 2014
|
||||
by Federico Vanzati
|
||||
|
||||
http://arduino.cc/en/Tutorial/WebClientRepeating
|
||||
http://www.arduino.cc/en/Tutorial/WebClientRepeating
|
||||
This code is in the public domain.
|
||||
|
||||
*/
|
||||
|
||||
@ -1,9 +1,9 @@
|
||||
name=Ethernet
|
||||
version=1.0.2
|
||||
version=1.0.4
|
||||
author=Arduino
|
||||
maintainer=Arduino <info@arduino.cc>
|
||||
sentence=Enables network connection (local and Internet) using the Arduino Ethernet board or shield. For all Arduino boards.
|
||||
paragraph=With this library you can use the Arduino Ethernet (shield or board) to connect to Internet. The library provides both Client and server functionalities. The library permits you to connect to a local network also with DHCP and to resolve DNS.
|
||||
category=Communication
|
||||
url=http://arduino.cc/en/Reference/Ethernet
|
||||
url=http://www.arduino.cc/en/Reference/Ethernet
|
||||
architectures=*
|
||||
|
||||
@ -131,12 +131,17 @@ void EthernetClient::stop() {
|
||||
disconnect(_sock);
|
||||
unsigned long start = millis();
|
||||
|
||||
// wait a second for the connection to close
|
||||
while (status() != SnSR::CLOSED && millis() - start < 1000)
|
||||
// wait up to a second for the connection to close
|
||||
uint8_t s;
|
||||
do {
|
||||
s = status();
|
||||
if (s == SnSR::CLOSED)
|
||||
break; // exit the loop
|
||||
delay(1);
|
||||
} while (millis() - start < 1000);
|
||||
|
||||
// if it hasn't closed, close it forcefully
|
||||
if (status() != SnSR::CLOSED)
|
||||
if (s != SnSR::CLOSED)
|
||||
close(_sock);
|
||||
|
||||
EthernetClass::_server_port[_sock] = 0;
|
||||
|
||||
@ -54,12 +54,13 @@ EthernetClient EthernetServer::available()
|
||||
|
||||
for (int sock = 0; sock < MAX_SOCK_NUM; sock++) {
|
||||
EthernetClient client(sock);
|
||||
if (EthernetClass::_server_port[sock] == _port &&
|
||||
(client.status() == SnSR::ESTABLISHED ||
|
||||
client.status() == SnSR::CLOSE_WAIT)) {
|
||||
if (client.available()) {
|
||||
// XXX: don't always pick the lowest numbered socket.
|
||||
return client;
|
||||
if (EthernetClass::_server_port[sock] == _port) {
|
||||
uint8_t s = client.status();
|
||||
if (s == SnSR::ESTABLISHED || s == SnSR::CLOSE_WAIT) {
|
||||
if (client.available()) {
|
||||
// XXX: don't always pick the lowest numbered socket.
|
||||
return client;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@ -1,25 +0,0 @@
|
||||
= Firmata Library for Arduino =
|
||||
|
||||
The Firmata library implements the Firmata protocol for communicating with software on the host computer. This allows you to write custom firmware without having to create your own protocol and objects for the programming environment that you are using.
|
||||
|
||||
For more information about this library please visit us at
|
||||
http://arduino.cc/en/Reference/Firmata
|
||||
|
||||
== License ==
|
||||
|
||||
Copyright (c) 2006-2008 Hans-Christoph Steiner. All rights reserved.
|
||||
Copyright (c) 2010 Arduino LLC. All right reserved.
|
||||
|
||||
This library is free software; you can redistribute it and/or
|
||||
modify it under the terms of the GNU Lesser General Public
|
||||
License as published by the Free Software Foundation; either
|
||||
version 2.1 of the License, or (at your option) any later version.
|
||||
|
||||
This library is distributed in the hope that it will be useful,
|
||||
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
|
||||
Lesser General Public License for more details.
|
||||
|
||||
You should have received a copy of the GNU Lesser General Public
|
||||
License along with this library; if not, write to the Free Software
|
||||
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
|
||||
@ -1,90 +0,0 @@
|
||||
/*
|
||||
* 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
|
||||
*/
|
||||
|
||||
/*
|
||||
* This firmware reads all inputs and sends them as fast as it can. It was
|
||||
* inspired by the ease-of-use of the Arduino2Max program.
|
||||
*
|
||||
* This example code is in the public domain.
|
||||
*/
|
||||
#include <Firmata.h>
|
||||
|
||||
byte pin;
|
||||
|
||||
int analogValue;
|
||||
int previousAnalogValues[TOTAL_ANALOG_PINS];
|
||||
|
||||
byte portStatus[TOTAL_PORTS]; // each bit: 1=pin is digital input, 0=other/ignore
|
||||
byte previousPINs[TOTAL_PORTS];
|
||||
|
||||
/* timer variables */
|
||||
unsigned long currentMillis; // store the current value from millis()
|
||||
unsigned long previousMillis; // for comparison with currentMillis
|
||||
/* make sure that the FTDI buffer doesn't go over 60 bytes, otherwise you
|
||||
get long, random delays. So only read analogs every 20ms or so */
|
||||
int samplingInterval = 19; // how often to run the main loop (in ms)
|
||||
|
||||
void sendPort(byte portNumber, byte portValue)
|
||||
{
|
||||
portValue = portValue & portStatus[portNumber];
|
||||
if (previousPINs[portNumber] != portValue) {
|
||||
Firmata.sendDigitalPort(portNumber, portValue);
|
||||
previousPINs[portNumber] = portValue;
|
||||
}
|
||||
}
|
||||
|
||||
void setup()
|
||||
{
|
||||
byte i, port, status;
|
||||
|
||||
Firmata.setFirmwareVersion(0, 1);
|
||||
|
||||
for (pin = 0; pin < TOTAL_PINS; pin++) {
|
||||
if IS_PIN_DIGITAL(pin) pinMode(PIN_TO_DIGITAL(pin), INPUT);
|
||||
}
|
||||
|
||||
for (port = 0; port < TOTAL_PORTS; port++) {
|
||||
status = 0;
|
||||
for (i = 0; i < 8; i++) {
|
||||
if (IS_PIN_DIGITAL(port * 8 + i)) status |= (1 << i);
|
||||
}
|
||||
portStatus[port] = status;
|
||||
}
|
||||
|
||||
Firmata.begin(57600);
|
||||
}
|
||||
|
||||
void loop()
|
||||
{
|
||||
byte i;
|
||||
|
||||
for (i = 0; i < TOTAL_PORTS; i++) {
|
||||
sendPort(i, readPort(i, 0xff));
|
||||
}
|
||||
/* make sure that the FTDI buffer doesn't go over 60 bytes, otherwise you
|
||||
get long, random delays. So only read analogs every 20ms or so */
|
||||
currentMillis = millis();
|
||||
if (currentMillis - previousMillis > samplingInterval) {
|
||||
previousMillis += samplingInterval;
|
||||
while (Firmata.available()) {
|
||||
Firmata.processInput();
|
||||
}
|
||||
for (pin = 0; pin < TOTAL_ANALOG_PINS; pin++) {
|
||||
analogValue = analogRead(pin);
|
||||
if (analogValue != previousAnalogValues[pin]) {
|
||||
Firmata.sendAnalog(pin, analogValue);
|
||||
previousAnalogValues[pin] = analogValue;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@ -1,94 +0,0 @@
|
||||
/*
|
||||
* 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
|
||||
*/
|
||||
|
||||
/* This firmware supports as many analog ports as possible, all analog inputs,
|
||||
* four PWM outputs, and two with servo support.
|
||||
*
|
||||
* This example code is in the public domain.
|
||||
*/
|
||||
#include <Servo.h>
|
||||
#include <Firmata.h>
|
||||
|
||||
/*==============================================================================
|
||||
* GLOBAL VARIABLES
|
||||
*============================================================================*/
|
||||
|
||||
/* servos */
|
||||
Servo servo9, servo10; // one instance per pin
|
||||
/* analog inputs */
|
||||
int analogInputsToReport = 0; // bitwise array to store pin reporting
|
||||
int analogPin = 0; // counter for reading analog pins
|
||||
/* timer variables */
|
||||
unsigned long currentMillis; // store the current value from millis()
|
||||
unsigned long previousMillis; // for comparison with currentMillis
|
||||
|
||||
|
||||
/*==============================================================================
|
||||
* FUNCTIONS
|
||||
*============================================================================*/
|
||||
|
||||
void analogWriteCallback(byte pin, int value)
|
||||
{
|
||||
switch (pin) {
|
||||
case 9: servo9.write(value); break;
|
||||
case 10: servo10.write(value); break;
|
||||
case 3:
|
||||
case 5:
|
||||
case 6:
|
||||
case 11: // PWM pins
|
||||
analogWrite(pin, value);
|
||||
break;
|
||||
}
|
||||
}
|
||||
// -----------------------------------------------------------------------------
|
||||
// sets bits in a bit array (int) to toggle the reporting of the analogIns
|
||||
void reportAnalogCallback(byte pin, int value)
|
||||
{
|
||||
if (value == 0) {
|
||||
analogInputsToReport = analogInputsToReport &~ (1 << pin);
|
||||
}
|
||||
else { // everything but 0 enables reporting of that pin
|
||||
analogInputsToReport = analogInputsToReport | (1 << pin);
|
||||
}
|
||||
// TODO: save status to EEPROM here, if changed
|
||||
}
|
||||
|
||||
/*==============================================================================
|
||||
* SETUP()
|
||||
*============================================================================*/
|
||||
void setup()
|
||||
{
|
||||
Firmata.setFirmwareVersion(0, 2);
|
||||
Firmata.attach(ANALOG_MESSAGE, analogWriteCallback);
|
||||
Firmata.attach(REPORT_ANALOG, reportAnalogCallback);
|
||||
|
||||
servo9.attach(9);
|
||||
servo10.attach(10);
|
||||
Firmata.begin(57600);
|
||||
}
|
||||
|
||||
/*==============================================================================
|
||||
* LOOP()
|
||||
*============================================================================*/
|
||||
void loop()
|
||||
{
|
||||
while (Firmata.available())
|
||||
Firmata.processInput();
|
||||
currentMillis = millis();
|
||||
if (currentMillis - previousMillis > 20) {
|
||||
previousMillis += 20; // run this every 20ms
|
||||
for (analogPin = 0; analogPin < TOTAL_ANALOG_PINS; analogPin++) {
|
||||
if ( analogInputsToReport & (1 << analogPin) )
|
||||
Firmata.sendAnalog(analogPin, analogRead(analogPin));
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@ -1,44 +0,0 @@
|
||||
/*
|
||||
* 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
|
||||
*/
|
||||
|
||||
/* This sketch accepts strings and raw sysex messages and echos them back.
|
||||
*
|
||||
* This example code is in the public domain.
|
||||
*/
|
||||
#include <Firmata.h>
|
||||
|
||||
void stringCallback(char *myString)
|
||||
{
|
||||
Firmata.sendString(myString);
|
||||
}
|
||||
|
||||
|
||||
void sysexCallback(byte command, byte argc, byte*argv)
|
||||
{
|
||||
Firmata.sendSysex(command, argc, argv);
|
||||
}
|
||||
|
||||
void setup()
|
||||
{
|
||||
Firmata.setFirmwareVersion(0, 1);
|
||||
Firmata.attach(STRING_DATA, stringCallback);
|
||||
Firmata.attach(START_SYSEX, sysexCallback);
|
||||
Firmata.begin(57600);
|
||||
}
|
||||
|
||||
void loop()
|
||||
{
|
||||
while (Firmata.available()) {
|
||||
Firmata.processInput();
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@ -1,458 +0,0 @@
|
||||
|
||||
GNU LESSER GENERAL PUBLIC LICENSE
|
||||
Version 2.1, February 1999
|
||||
|
||||
Copyright (C) 1991, 1999 Free Software Foundation, Inc.
|
||||
51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
|
||||
Everyone is permitted to copy and distribute verbatim copies
|
||||
of this license document, but changing it is not allowed.
|
||||
|
||||
[This is the first released version of the Lesser GPL. It also counts
|
||||
as the successor of the GNU Library Public License, version 2, hence
|
||||
the version number 2.1.]
|
||||
|
||||
Preamble
|
||||
|
||||
The licenses for most software are designed to take away your
|
||||
freedom to share and change it. By contrast, the GNU General Public
|
||||
Licenses are intended to guarantee your freedom to share and change
|
||||
free software--to make sure the software is free for all its users.
|
||||
|
||||
This license, the Lesser General Public License, applies to some
|
||||
specially designated software packages--typically libraries--of the
|
||||
Free Software Foundation and other authors who decide to use it. You
|
||||
can use it too, but we suggest you first think carefully about whether
|
||||
this license or the ordinary General Public License is the better
|
||||
strategy to use in any particular case, based on the explanations below.
|
||||
|
||||
When we speak of free software, we are referring to freedom of use,
|
||||
not price. Our General Public Licenses are designed to make sure that
|
||||
you have the freedom to distribute copies of free software (and charge
|
||||
for this service if you wish); that you receive source code or can get
|
||||
it if you want it; that you can change the software and use pieces of
|
||||
it in new free programs; and that you are informed that you can do
|
||||
these things.
|
||||
|
||||
To protect your rights, we need to make restrictions that forbid
|
||||
distributors to deny you these rights or to ask you to surrender these
|
||||
rights. These restrictions translate to certain responsibilities for
|
||||
you if you distribute copies of the library or if you modify it.
|
||||
|
||||
For example, if you distribute copies of the library, whether gratis
|
||||
or for a fee, you must give the recipients all the rights that we gave
|
||||
you. You must make sure that they, too, receive or can get the source
|
||||
code. If you link other code with the library, you must provide
|
||||
complete object files to the recipients, so that they can relink them
|
||||
with the library after making changes to the library and recompiling
|
||||
it. And you must show them these terms so they know their rights.
|
||||
|
||||
We protect your rights with a two-step method: (1) we copyright the
|
||||
library, and (2) we offer you this license, which gives you legal
|
||||
permission to copy, distribute and/or modify the library.
|
||||
|
||||
To protect each distributor, we want to make it very clear that
|
||||
there is no warranty for the free library. Also, if the library is
|
||||
modified by someone else and passed on, the recipients should know
|
||||
that what they have is not the original version, so that the original
|
||||
author's reputation will not be affected by problems that might be
|
||||
introduced by others.
|
||||
|
||||
Finally, software patents pose a constant threat to the existence of
|
||||
any free program. We wish to make sure that a company cannot
|
||||
effectively restrict the users of a free program by obtaining a
|
||||
restrictive license from a patent holder. Therefore, we insist that
|
||||
any patent license obtained for a version of the library must be
|
||||
consistent with the full freedom of use specified in this license.
|
||||
|
||||
Most GNU software, including some libraries, is covered by the
|
||||
ordinary GNU General Public License. This license, the GNU Lesser
|
||||
General Public License, applies to certain designated libraries, and
|
||||
is quite different from the ordinary General Public License. We use
|
||||
this license for certain libraries in order to permit linking those
|
||||
libraries into non-free programs.
|
||||
|
||||
When a program is linked with a library, whether statically or using
|
||||
a shared library, the combination of the two is legally speaking a
|
||||
combined work, a derivative of the original library. The ordinary
|
||||
General Public License therefore permits such linking only if the
|
||||
entire combination fits its criteria of freedom. The Lesser General
|
||||
Public License permits more lax criteria for linking other code with
|
||||
the library.
|
||||
|
||||
We call this license the "Lesser" General Public License because it
|
||||
does Less to protect the user's freedom than the ordinary General
|
||||
Public License. It also provides other free software developers Less
|
||||
of an advantage over competing non-free programs. These disadvantages
|
||||
are the reason we use the ordinary General Public License for many
|
||||
libraries. However, the Lesser license provides advantages in certain
|
||||
special circumstances.
|
||||
|
||||
For example, on rare occasions, there may be a special need to
|
||||
encourage the widest possible use of a certain library, so that it becomes
|
||||
a de-facto standard. To achieve this, non-free programs must be
|
||||
allowed to use the library. A more frequent case is that a free
|
||||
library does the same job as widely used non-free libraries. In this
|
||||
case, there is little to gain by limiting the free library to free
|
||||
software only, so we use the Lesser General Public License.
|
||||
|
||||
In other cases, permission to use a particular library in non-free
|
||||
programs enables a greater number of people to use a large body of
|
||||
free software. For example, permission to use the GNU C Library in
|
||||
non-free programs enables many more people to use the whole GNU
|
||||
operating system, as well as its variant, the GNU/Linux operating
|
||||
system.
|
||||
|
||||
Although the Lesser General Public License is Less protective of the
|
||||
users' freedom, it does ensure that the user of a program that is
|
||||
linked with the Library has the freedom and the wherewithal to run
|
||||
that program using a modified version of the Library.
|
||||
|
||||
The precise terms and conditions for copying, distribution and
|
||||
modification follow. Pay close attention to the difference between a
|
||||
"work based on the library" and a "work that uses the library". The
|
||||
former contains code derived from the library, whereas the latter must
|
||||
be combined with the library in order to run.
|
||||
|
||||
GNU LESSER GENERAL PUBLIC LICENSE
|
||||
TERMS AND CONDITIONS FOR COPYING, DISTRIBUTION AND MODIFICATION
|
||||
|
||||
0. This License Agreement applies to any software library or other
|
||||
program which contains a notice placed by the copyright holder or
|
||||
other authorized party saying it may be distributed under the terms of
|
||||
this Lesser General Public License (also called "this License").
|
||||
Each licensee is addressed as "you".
|
||||
|
||||
A "library" means a collection of software functions and/or data
|
||||
prepared so as to be conveniently linked with application programs
|
||||
(which use some of those functions and data) to form executables.
|
||||
|
||||
The "Library", below, refers to any such software library or work
|
||||
which has been distributed under these terms. A "work based on the
|
||||
Library" means either the Library or any derivative work under
|
||||
copyright law: that is to say, a work containing the Library or a
|
||||
portion of it, either verbatim or with modifications and/or translated
|
||||
straightforwardly into another language. (Hereinafter, translation is
|
||||
included without limitation in the term "modification".)
|
||||
|
||||
"Source code" for a work means the preferred form of the work for
|
||||
making modifications to it. For a library, complete source code means
|
||||
all the source code for all modules it contains, plus any associated
|
||||
interface definition files, plus the scripts used to control compilation
|
||||
and installation of the library.
|
||||
|
||||
Activities other than copying, distribution and modification are not
|
||||
covered by this License; they are outside its scope. The act of
|
||||
running a program using the Library is not restricted, and output from
|
||||
such a program is covered only if its contents constitute a work based
|
||||
on the Library (independent of the use of the Library in a tool for
|
||||
writing it). Whether that is true depends on what the Library does
|
||||
and what the program that uses the Library does.
|
||||
|
||||
1. You may copy and distribute verbatim copies of the Library's
|
||||
complete source code as you receive it, in any medium, provided that
|
||||
you conspicuously and appropriately publish on each copy an
|
||||
appropriate copyright notice and disclaimer of warranty; keep intact
|
||||
all the notices that refer to this License and to the absence of any
|
||||
warranty; and distribute a copy of this License along with the
|
||||
Library.
|
||||
|
||||
You may charge a fee for the physical act of transferring a copy,
|
||||
and you may at your option offer warranty protection in exchange for a
|
||||
fee.
|
||||
|
||||
2. You may modify your copy or copies of the Library or any portion
|
||||
of it, thus forming a work based on the Library, and copy and
|
||||
distribute such modifications or work under the terms of Section 1
|
||||
above, provided that you also meet all of these conditions:
|
||||
|
||||
a) The modified work must itself be a software library.
|
||||
|
||||
b) You must cause the files modified to carry prominent notices
|
||||
stating that you changed the files and the date of any change.
|
||||
|
||||
c) You must cause the whole of the work to be licensed at no
|
||||
charge to all third parties under the terms of this License.
|
||||
|
||||
d) If a facility in the modified Library refers to a function or a
|
||||
table of data to be supplied by an application program that uses
|
||||
the facility, other than as an argument passed when the facility
|
||||
is invoked, then you must make a good faith effort to ensure that,
|
||||
in the event an application does not supply such function or
|
||||
table, the facility still operates, and performs whatever part of
|
||||
its purpose remains meaningful.
|
||||
|
||||
(For example, a function in a library to compute square roots has
|
||||
a purpose that is entirely well-defined independent of the
|
||||
application. Therefore, Subsection 2d requires that any
|
||||
application-supplied function or table used by this function must
|
||||
be optional: if the application does not supply it, the square
|
||||
root function must still compute square roots.)
|
||||
|
||||
These requirements apply to the modified work as a whole. If
|
||||
identifiable sections of that work are not derived from the Library,
|
||||
and can be reasonably considered independent and separate works in
|
||||
themselves, then this License, and its terms, do not apply to those
|
||||
sections when you distribute them as separate works. But when you
|
||||
distribute the same sections as part of a whole which is a work based
|
||||
on the Library, the distribution of the whole must be on the terms of
|
||||
this License, whose permissions for other licensees extend to the
|
||||
entire whole, and thus to each and every part regardless of who wrote
|
||||
it.
|
||||
|
||||
Thus, it is not the intent of this section to claim rights or contest
|
||||
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|
||||
exercise the right to control the distribution of derivative or
|
||||
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|
||||
|
||||
In addition, mere aggregation of another work not based on the Library
|
||||
with the Library (or with a work based on the Library) on a volume of
|
||||
a storage or distribution medium does not bring the other work under
|
||||
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|
||||
|
||||
3. You may opt to apply the terms of the ordinary GNU General Public
|
||||
License instead of this License to a given copy of the Library. To do
|
||||
this, you must alter all the notices that refer to this License, so
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
Once this change is made in a given copy, it is irreversible for
|
||||
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|
||||
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|
||||
|
||||
This option is useful when you wish to copy part of the code of
|
||||
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|
||||
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
must be distributed under the terms of Sections 1 and 2 above on a
|
||||
medium customarily used for software interchange.
|
||||
|
||||
If distribution of object code is made by offering access to copy
|
||||
from a designated place, then offering equivalent access to copy the
|
||||
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|
||||
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|
||||
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|
||||
|
||||
5. A program that contains no derivative of any portion of the
|
||||
Library, but is designed to work with the Library by being compiled or
|
||||
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|
||||
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|
||||
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|
||||
|
||||
However, linking a "work that uses the Library" with the Library
|
||||
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|
||||
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|
||||
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|
||||
Section 6 states terms for distribution of such executables.
|
||||
|
||||
When a "work that uses the Library" uses material from a header file
|
||||
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|
||||
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|
||||
Whether this is true is especially significant if the work can be
|
||||
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|
||||
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|
||||
|
||||
If such an object file uses only numerical parameters, data
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
|
||||
Otherwise, if the work is a derivative of the Library, you may
|
||||
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|
||||
Any executables containing that work also fall under Section 6,
|
||||
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|
||||
|
||||
6. As an exception to the Sections above, you may also combine or
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
You must give prominent notice with each copy of the work that the
|
||||
Library is used in it and that the Library and its use are covered by
|
||||
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|
||||
during execution displays copyright notices, you must include the
|
||||
copyright notice for the Library among them, as well as a reference
|
||||
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|
||||
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||||
|
||||
a) Accompany the work with the complete corresponding
|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
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|
||||
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||||
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
c) Accompany the work with a written offer, valid for at
|
||||
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|
||||
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|
||||
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|
||||
|
||||
d) If distribution of the work is made by offering access to copy
|
||||
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|
||||
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||||
|
||||
e) Verify that the user has already received a copy of these
|
||||
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||||
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||||
For an executable, the required form of the "work that uses the
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
|
||||
It may happen that this requirement contradicts the license
|
||||
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|
||||
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|
||||
use both them and the Library together in an executable that you
|
||||
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||||
7. You may place library facilities that are a work based on the
|
||||
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|
||||
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|
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||||
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||||
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||||
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||||
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|
||||
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||||
8. You may not copy, modify, sublicense, link with, or distribute
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||||
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||||
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|
||||
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||||
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|
||||
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||||
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||||
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|
||||
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||||
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||||
10. Each time you redistribute the Library (or any work based on the
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|
||||
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|
||||
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|
||||
You are not responsible for enforcing compliance by third parties with
|
||||
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|
||||
|
||||
11. If, as a consequence of a court judgment or allegation of patent
|
||||
infringement or for any other reason (not limited to patent issues),
|
||||
conditions are imposed on you (whether by court order, agreement or
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
If any portion of this section is held invalid or unenforceable under any
|
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|
||||
and the section as a whole is intended to apply in other circumstances.
|
||||
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||||
It is not the purpose of this section to induce you to infringe any
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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||||
This section is intended to make thoroughly clear what is believed to
|
||||
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|
||||
|
||||
12. If the distribution and/or use of the Library is restricted in
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
13. The Free Software Foundation may publish revised and/or new
|
||||
versions of the Lesser General Public License from time to time.
|
||||
Such new versions will be similar in spirit to the present version,
|
||||
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||||
|
||||
Each version is given a distinguishing version number. If the Library
|
||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
NO WARRANTY
|
||||
|
||||
15. BECAUSE THE LIBRARY IS LICENSED FREE OF CHARGE, THERE IS NO
|
||||
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|
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EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT HOLDERS AND/OR
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||||
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||||
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|
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16. IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN
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|
||||
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|
||||
SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH
|
||||
DAMAGES.
|
||||
|
||||
@ -1,239 +0,0 @@
|
||||
/*
|
||||
* 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
|
||||
*/
|
||||
|
||||
/*
|
||||
Copyright (C) 2006-2008 Hans-Christoph Steiner. 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
|
||||
License as published by the Free Software Foundation; either
|
||||
version 2.1 of the License, or (at your option) any later version.
|
||||
|
||||
See file LICENSE.txt for further informations on licensing terms.
|
||||
*/
|
||||
|
||||
/*
|
||||
* This is an old version of StandardFirmata (v2.0). It is kept here because
|
||||
* its the last version that works on an ATMEGA8 chip. Also, it can be used
|
||||
* for host software that has not been updated to a newer version of the
|
||||
* protocol. It also uses the old baud rate of 115200 rather than 57600.
|
||||
*/
|
||||
|
||||
#include <EEPROM.h>
|
||||
#include <Firmata.h>
|
||||
|
||||
/*==============================================================================
|
||||
* GLOBAL VARIABLES
|
||||
*============================================================================*/
|
||||
|
||||
/* analog inputs */
|
||||
int analogInputsToReport = 0; // bitwise array to store pin reporting
|
||||
int analogPin = 0; // counter for reading analog pins
|
||||
|
||||
/* digital pins */
|
||||
byte reportPINs[TOTAL_PORTS]; // PIN == input port
|
||||
byte previousPINs[TOTAL_PORTS]; // PIN == input port
|
||||
byte pinStatus[TOTAL_PINS]; // store pin status, default OUTPUT
|
||||
byte portStatus[TOTAL_PORTS];
|
||||
|
||||
/* timer variables */
|
||||
unsigned long currentMillis; // store the current value from millis()
|
||||
unsigned long previousMillis; // for comparison with currentMillis
|
||||
|
||||
|
||||
/*==============================================================================
|
||||
* FUNCTIONS
|
||||
*============================================================================*/
|
||||
|
||||
void outputPort(byte portNumber, byte portValue)
|
||||
{
|
||||
portValue = portValue &~ portStatus[portNumber];
|
||||
if (previousPINs[portNumber] != portValue) {
|
||||
Firmata.sendDigitalPort(portNumber, portValue);
|
||||
previousPINs[portNumber] = portValue;
|
||||
Firmata.sendDigitalPort(portNumber, portValue);
|
||||
}
|
||||
}
|
||||
|
||||
/* -----------------------------------------------------------------------------
|
||||
* check all the active digital inputs for change of state, then add any events
|
||||
* to the Serial output queue using Serial.print() */
|
||||
void checkDigitalInputs(void)
|
||||
{
|
||||
byte i, tmp;
|
||||
for (i = 0; i < TOTAL_PORTS; i++) {
|
||||
if (reportPINs[i]) {
|
||||
switch (i) {
|
||||
case 0: outputPort(0, PIND &~ B00000011); break; // ignore Rx/Tx 0/1
|
||||
case 1: outputPort(1, PINB); break;
|
||||
case 2: outputPort(2, PINC); break;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// -----------------------------------------------------------------------------
|
||||
/* sets the pin mode to the correct state and sets the relevant bits in the
|
||||
* two bit-arrays that track Digital I/O and PWM status
|
||||
*/
|
||||
void setPinModeCallback(byte pin, int mode) {
|
||||
byte port = 0;
|
||||
byte offset = 0;
|
||||
|
||||
if (pin < 8) {
|
||||
port = 0;
|
||||
offset = 0;
|
||||
} else if (pin < 14) {
|
||||
port = 1;
|
||||
offset = 8;
|
||||
} else if (pin < 22) {
|
||||
port = 2;
|
||||
offset = 14;
|
||||
}
|
||||
|
||||
if (pin > 1) { // ignore RxTx (pins 0 and 1)
|
||||
pinStatus[pin] = mode;
|
||||
switch (mode) {
|
||||
case INPUT:
|
||||
pinMode(pin, INPUT);
|
||||
portStatus[port] = portStatus[port] &~ (1 << (pin - offset));
|
||||
break;
|
||||
case OUTPUT:
|
||||
digitalWrite(pin, LOW); // disable PWM
|
||||
case PWM:
|
||||
pinMode(pin, OUTPUT);
|
||||
portStatus[port] = portStatus[port] | (1 << (pin - offset));
|
||||
break;
|
||||
//case ANALOG: // TODO figure this out
|
||||
default:
|
||||
Firmata.sendString("");
|
||||
}
|
||||
// TODO: save status to EEPROM here, if changed
|
||||
}
|
||||
}
|
||||
|
||||
void analogWriteCallback(byte pin, int value)
|
||||
{
|
||||
setPinModeCallback(pin, PWM);
|
||||
analogWrite(pin, value);
|
||||
}
|
||||
|
||||
void digitalWriteCallback(byte port, int value)
|
||||
{
|
||||
switch (port) {
|
||||
case 0: // pins 2-7 (don't change Rx/Tx, pins 0 and 1)
|
||||
// 0xFF03 == B1111111100000011 0x03 == B00000011
|
||||
PORTD = (value &~ 0xFF03) | (PORTD & 0x03);
|
||||
break;
|
||||
case 1: // pins 8-13 (14,15 are disabled for the crystal)
|
||||
PORTB = (byte)value;
|
||||
break;
|
||||
case 2: // analog pins used as digital
|
||||
PORTC = (byte)value;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
// -----------------------------------------------------------------------------
|
||||
/* sets bits in a bit array (int) to toggle the reporting of the analogIns
|
||||
*/
|
||||
//void FirmataClass::setAnalogPinReporting(byte pin, byte state) {
|
||||
//}
|
||||
void reportAnalogCallback(byte pin, int value)
|
||||
{
|
||||
if (value == 0) {
|
||||
analogInputsToReport = analogInputsToReport &~ (1 << pin);
|
||||
}
|
||||
else { // everything but 0 enables reporting of that pin
|
||||
analogInputsToReport = analogInputsToReport | (1 << pin);
|
||||
}
|
||||
// TODO: save status to EEPROM here, if changed
|
||||
}
|
||||
|
||||
void reportDigitalCallback(byte port, int value)
|
||||
{
|
||||
reportPINs[port] = (byte)value;
|
||||
if (port == 2) // turn off analog reporting when used as digital
|
||||
analogInputsToReport = 0;
|
||||
}
|
||||
|
||||
/*==============================================================================
|
||||
* SETUP()
|
||||
*============================================================================*/
|
||||
void setup()
|
||||
{
|
||||
byte i;
|
||||
|
||||
Firmata.setFirmwareVersion(2, 0);
|
||||
|
||||
Firmata.attach(ANALOG_MESSAGE, analogWriteCallback);
|
||||
Firmata.attach(DIGITAL_MESSAGE, digitalWriteCallback);
|
||||
Firmata.attach(REPORT_ANALOG, reportAnalogCallback);
|
||||
Firmata.attach(REPORT_DIGITAL, reportDigitalCallback);
|
||||
Firmata.attach(SET_PIN_MODE, setPinModeCallback);
|
||||
|
||||
portStatus[0] = B00000011; // ignore Tx/RX pins
|
||||
portStatus[1] = B11000000; // ignore 14/15 pins
|
||||
portStatus[2] = B00000000;
|
||||
|
||||
// for(i=0; i<TOTAL_PINS; ++i) { // TODO make this work with analogs
|
||||
for (i = 0; i < 14; ++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[2]) outputPort(2, PINC);
|
||||
|
||||
Firmata.begin(115200);
|
||||
}
|
||||
|
||||
/*==============================================================================
|
||||
* LOOP()
|
||||
*============================================================================*/
|
||||
void loop()
|
||||
{
|
||||
/* DIGITALREAD - as fast as possible, check for changes and output them to the
|
||||
* FTDI buffer using Serial.print() */
|
||||
checkDigitalInputs();
|
||||
currentMillis = millis();
|
||||
if (currentMillis - previousMillis > 20) {
|
||||
previousMillis += 20; // run this every 20ms
|
||||
/* 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. use a timer to sending an event character every 4 ms to
|
||||
* trigger the buffer to dump. */
|
||||
|
||||
/* ANALOGREAD - right after the event character, do all of the
|
||||
* analogReads(). These only need to be done every 4ms. */
|
||||
for (analogPin = 0; analogPin < TOTAL_ANALOG_PINS; analogPin++) {
|
||||
if ( analogInputsToReport & (1 << analogPin) ) {
|
||||
Firmata.sendAnalog(analogPin, analogRead(analogPin));
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -1,53 +0,0 @@
|
||||
/*
|
||||
* 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
|
||||
*/
|
||||
|
||||
/* This firmware supports as many servos as possible using the Servo library
|
||||
* included in Arduino 0017
|
||||
*
|
||||
* TODO add message to configure minPulse/maxPulse/degrees
|
||||
*
|
||||
* This example code is in the public domain.
|
||||
*/
|
||||
|
||||
#include <Servo.h>
|
||||
#include <Firmata.h>
|
||||
|
||||
Servo servos[MAX_SERVOS];
|
||||
|
||||
void analogWriteCallback(byte pin, int value)
|
||||
{
|
||||
if (IS_PIN_SERVO(pin)) {
|
||||
servos[PIN_TO_SERVO(pin)].write(value);
|
||||
}
|
||||
}
|
||||
|
||||
void setup()
|
||||
{
|
||||
byte pin;
|
||||
|
||||
Firmata.setFirmwareVersion(0, 2);
|
||||
Firmata.attach(ANALOG_MESSAGE, analogWriteCallback);
|
||||
|
||||
for (pin = 0; pin < TOTAL_PINS; pin++) {
|
||||
if (IS_PIN_SERVO(pin)) {
|
||||
servos[PIN_TO_SERVO(pin)].attach(PIN_TO_DIGITAL(pin));
|
||||
}
|
||||
}
|
||||
|
||||
Firmata.begin(57600);
|
||||
}
|
||||
|
||||
void loop()
|
||||
{
|
||||
while (Firmata.available())
|
||||
Firmata.processInput();
|
||||
}
|
||||
|
||||
@ -1,46 +0,0 @@
|
||||
/*
|
||||
* 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
|
||||
*/
|
||||
|
||||
/* Supports as many analog inputs and analog PWM outputs as possible.
|
||||
*
|
||||
* This example code is in the public domain.
|
||||
*/
|
||||
#include <Firmata.h>
|
||||
|
||||
byte analogPin = 0;
|
||||
|
||||
void analogWriteCallback(byte pin, int value)
|
||||
{
|
||||
if (IS_PIN_PWM(pin)) {
|
||||
pinMode(PIN_TO_DIGITAL(pin), OUTPUT);
|
||||
analogWrite(PIN_TO_PWM(pin), value);
|
||||
}
|
||||
}
|
||||
|
||||
void setup()
|
||||
{
|
||||
Firmata.setFirmwareVersion(0, 1);
|
||||
Firmata.attach(ANALOG_MESSAGE, analogWriteCallback);
|
||||
Firmata.begin(57600);
|
||||
}
|
||||
|
||||
void loop()
|
||||
{
|
||||
while (Firmata.available()) {
|
||||
Firmata.processInput();
|
||||
}
|
||||
// do one analogRead per loop, so if PC is sending a lot of
|
||||
// analog write messages, we will only delay 1 analogRead
|
||||
Firmata.sendAnalog(analogPin, analogRead(analogPin));
|
||||
analogPin = analogPin + 1;
|
||||
if (analogPin >= TOTAL_ANALOG_PINS) analogPin = 0;
|
||||
}
|
||||
|
||||
@ -1,72 +0,0 @@
|
||||
/*
|
||||
* 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
|
||||
*/
|
||||
|
||||
/* Supports as many digital inputs and outputs as possible.
|
||||
*
|
||||
* This example code is in the public domain.
|
||||
*/
|
||||
#include <Firmata.h>
|
||||
|
||||
byte previousPIN[TOTAL_PORTS]; // PIN means PORT for input
|
||||
byte previousPORT[TOTAL_PORTS];
|
||||
|
||||
void outputPort(byte portNumber, byte portValue)
|
||||
{
|
||||
// only send the data when it changes, otherwise you get too many messages!
|
||||
if (previousPIN[portNumber] != portValue) {
|
||||
Firmata.sendDigitalPort(portNumber, portValue);
|
||||
previousPIN[portNumber] = portValue;
|
||||
}
|
||||
}
|
||||
|
||||
void setPinModeCallback(byte pin, int mode) {
|
||||
if (IS_PIN_DIGITAL(pin)) {
|
||||
pinMode(PIN_TO_DIGITAL(pin), mode);
|
||||
}
|
||||
}
|
||||
|
||||
void digitalWriteCallback(byte port, int value)
|
||||
{
|
||||
byte i;
|
||||
byte currentPinValue, previousPinValue;
|
||||
|
||||
if (port < TOTAL_PORTS && value != previousPORT[port]) {
|
||||
for (i = 0; i < 8; i++) {
|
||||
currentPinValue = (byte) value & (1 << i);
|
||||
previousPinValue = previousPORT[port] & (1 << i);
|
||||
if (currentPinValue != previousPinValue) {
|
||||
digitalWrite(i + (port * 8), currentPinValue);
|
||||
}
|
||||
}
|
||||
previousPORT[port] = value;
|
||||
}
|
||||
}
|
||||
|
||||
void setup()
|
||||
{
|
||||
Firmata.setFirmwareVersion(0, 1);
|
||||
Firmata.attach(DIGITAL_MESSAGE, digitalWriteCallback);
|
||||
Firmata.attach(SET_PIN_MODE, setPinModeCallback);
|
||||
Firmata.begin(57600);
|
||||
}
|
||||
|
||||
void loop()
|
||||
{
|
||||
byte i;
|
||||
|
||||
for (i = 0; i < TOTAL_PORTS; i++) {
|
||||
outputPort(i, readPort(i, 0xff));
|
||||
}
|
||||
|
||||
while (Firmata.available()) {
|
||||
Firmata.processInput();
|
||||
}
|
||||
}
|
||||
@ -1,458 +0,0 @@
|
||||
|
||||
GNU LESSER GENERAL PUBLIC LICENSE
|
||||
Version 2.1, February 1999
|
||||
|
||||
Copyright (C) 1991, 1999 Free Software Foundation, Inc.
|
||||
51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
|
||||
Everyone is permitted to copy and distribute verbatim copies
|
||||
of this license document, but changing it is not allowed.
|
||||
|
||||
[This is the first released version of the Lesser GPL. It also counts
|
||||
as the successor of the GNU Library Public License, version 2, hence
|
||||
the version number 2.1.]
|
||||
|
||||
Preamble
|
||||
|
||||
The licenses for most software are designed to take away your
|
||||
freedom to share and change it. By contrast, the GNU General Public
|
||||
Licenses are intended to guarantee your freedom to share and change
|
||||
free software--to make sure the software is free for all its users.
|
||||
|
||||
This license, the Lesser General Public License, applies to some
|
||||
specially designated software packages--typically libraries--of the
|
||||
Free Software Foundation and other authors who decide to use it. You
|
||||
can use it too, but we suggest you first think carefully about whether
|
||||
this license or the ordinary General Public License is the better
|
||||
strategy to use in any particular case, based on the explanations below.
|
||||
|
||||
When we speak of free software, we are referring to freedom of use,
|
||||
not price. Our General Public Licenses are designed to make sure that
|
||||
you have the freedom to distribute copies of free software (and charge
|
||||
for this service if you wish); that you receive source code or can get
|
||||
it if you want it; that you can change the software and use pieces of
|
||||
it in new free programs; and that you are informed that you can do
|
||||
these things.
|
||||
|
||||
To protect your rights, we need to make restrictions that forbid
|
||||
distributors to deny you these rights or to ask you to surrender these
|
||||
rights. These restrictions translate to certain responsibilities for
|
||||
you if you distribute copies of the library or if you modify it.
|
||||
|
||||
For example, if you distribute copies of the library, whether gratis
|
||||
or for a fee, you must give the recipients all the rights that we gave
|
||||
you. You must make sure that they, too, receive or can get the source
|
||||
code. If you link other code with the library, you must provide
|
||||
complete object files to the recipients, so that they can relink them
|
||||
with the library after making changes to the library and recompiling
|
||||
it. And you must show them these terms so they know their rights.
|
||||
|
||||
We protect your rights with a two-step method: (1) we copyright the
|
||||
library, and (2) we offer you this license, which gives you legal
|
||||
permission to copy, distribute and/or modify the library.
|
||||
|
||||
To protect each distributor, we want to make it very clear that
|
||||
there is no warranty for the free library. Also, if the library is
|
||||
modified by someone else and passed on, the recipients should know
|
||||
that what they have is not the original version, so that the original
|
||||
author's reputation will not be affected by problems that might be
|
||||
introduced by others.
|
||||
|
||||
Finally, software patents pose a constant threat to the existence of
|
||||
any free program. We wish to make sure that a company cannot
|
||||
effectively restrict the users of a free program by obtaining a
|
||||
restrictive license from a patent holder. Therefore, we insist that
|
||||
any patent license obtained for a version of the library must be
|
||||
consistent with the full freedom of use specified in this license.
|
||||
|
||||
Most GNU software, including some libraries, is covered by the
|
||||
ordinary GNU General Public License. This license, the GNU Lesser
|
||||
General Public License, applies to certain designated libraries, and
|
||||
is quite different from the ordinary General Public License. We use
|
||||
this license for certain libraries in order to permit linking those
|
||||
libraries into non-free programs.
|
||||
|
||||
When a program is linked with a library, whether statically or using
|
||||
a shared library, the combination of the two is legally speaking a
|
||||
combined work, a derivative of the original library. The ordinary
|
||||
General Public License therefore permits such linking only if the
|
||||
entire combination fits its criteria of freedom. The Lesser General
|
||||
Public License permits more lax criteria for linking other code with
|
||||
the library.
|
||||
|
||||
We call this license the "Lesser" General Public License because it
|
||||
does Less to protect the user's freedom than the ordinary General
|
||||
Public License. It also provides other free software developers Less
|
||||
of an advantage over competing non-free programs. These disadvantages
|
||||
are the reason we use the ordinary General Public License for many
|
||||
libraries. However, the Lesser license provides advantages in certain
|
||||
special circumstances.
|
||||
|
||||
For example, on rare occasions, there may be a special need to
|
||||
encourage the widest possible use of a certain library, so that it becomes
|
||||
a de-facto standard. To achieve this, non-free programs must be
|
||||
allowed to use the library. A more frequent case is that a free
|
||||
library does the same job as widely used non-free libraries. In this
|
||||
case, there is little to gain by limiting the free library to free
|
||||
software only, so we use the Lesser General Public License.
|
||||
|
||||
In other cases, permission to use a particular library in non-free
|
||||
programs enables a greater number of people to use a large body of
|
||||
free software. For example, permission to use the GNU C Library in
|
||||
non-free programs enables many more people to use the whole GNU
|
||||
operating system, as well as its variant, the GNU/Linux operating
|
||||
system.
|
||||
|
||||
Although the Lesser General Public License is Less protective of the
|
||||
users' freedom, it does ensure that the user of a program that is
|
||||
linked with the Library has the freedom and the wherewithal to run
|
||||
that program using a modified version of the Library.
|
||||
|
||||
The precise terms and conditions for copying, distribution and
|
||||
modification follow. Pay close attention to the difference between a
|
||||
"work based on the library" and a "work that uses the library". The
|
||||
former contains code derived from the library, whereas the latter must
|
||||
be combined with the library in order to run.
|
||||
|
||||
GNU LESSER GENERAL PUBLIC LICENSE
|
||||
TERMS AND CONDITIONS FOR COPYING, DISTRIBUTION AND MODIFICATION
|
||||
|
||||
0. This License Agreement applies to any software library or other
|
||||
program which contains a notice placed by the copyright holder or
|
||||
other authorized party saying it may be distributed under the terms of
|
||||
this Lesser General Public License (also called "this License").
|
||||
Each licensee is addressed as "you".
|
||||
|
||||
A "library" means a collection of software functions and/or data
|
||||
prepared so as to be conveniently linked with application programs
|
||||
(which use some of those functions and data) to form executables.
|
||||
|
||||
The "Library", below, refers to any such software library or work
|
||||
which has been distributed under these terms. A "work based on the
|
||||
Library" means either the Library or any derivative work under
|
||||
copyright law: that is to say, a work containing the Library or a
|
||||
portion of it, either verbatim or with modifications and/or translated
|
||||
straightforwardly into another language. (Hereinafter, translation is
|
||||
included without limitation in the term "modification".)
|
||||
|
||||
"Source code" for a work means the preferred form of the work for
|
||||
making modifications to it. For a library, complete source code means
|
||||
all the source code for all modules it contains, plus any associated
|
||||
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|
||||
and installation of the library.
|
||||
|
||||
Activities other than copying, distribution and modification are not
|
||||
covered by this License; they are outside its scope. The act of
|
||||
running a program using the Library is not restricted, and output from
|
||||
such a program is covered only if its contents constitute a work based
|
||||
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|
||||
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|
||||
and what the program that uses the Library does.
|
||||
|
||||
1. You may copy and distribute verbatim copies of the Library's
|
||||
complete source code as you receive it, in any medium, provided that
|
||||
you conspicuously and appropriately publish on each copy an
|
||||
appropriate copyright notice and disclaimer of warranty; keep intact
|
||||
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|
||||
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|
||||
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|
||||
|
||||
You may charge a fee for the physical act of transferring a copy,
|
||||
and you may at your option offer warranty protection in exchange for a
|
||||
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|
||||
|
||||
2. You may modify your copy or copies of the Library or any portion
|
||||
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|
||||
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|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
stating that you changed the files and the date of any change.
|
||||
|
||||
c) You must cause the whole of the work to be licensed at no
|
||||
charge to all third parties under the terms of this License.
|
||||
|
||||
d) If a facility in the modified Library refers to a function or a
|
||||
table of data to be supplied by an application program that uses
|
||||
the facility, other than as an argument passed when the facility
|
||||
is invoked, then you must make a good faith effort to ensure that,
|
||||
in the event an application does not supply such function or
|
||||
table, the facility still operates, and performs whatever part of
|
||||
its purpose remains meaningful.
|
||||
|
||||
(For example, a function in a library to compute square roots has
|
||||
a purpose that is entirely well-defined independent of the
|
||||
application. Therefore, Subsection 2d requires that any
|
||||
application-supplied function or table used by this function must
|
||||
be optional: if the application does not supply it, the square
|
||||
root function must still compute square roots.)
|
||||
|
||||
These requirements apply to the modified work as a whole. If
|
||||
identifiable sections of that work are not derived from the Library,
|
||||
and can be reasonably considered independent and separate works in
|
||||
themselves, then this License, and its terms, do not apply to those
|
||||
sections when you distribute them as separate works. But when you
|
||||
distribute the same sections as part of a whole which is a work based
|
||||
on the Library, the distribution of the whole must be on the terms of
|
||||
this License, whose permissions for other licensees extend to the
|
||||
entire whole, and thus to each and every part regardless of who wrote
|
||||
it.
|
||||
|
||||
Thus, it is not the intent of this section to claim rights or contest
|
||||
your rights to work written entirely by you; rather, the intent is to
|
||||
exercise the right to control the distribution of derivative or
|
||||
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|
||||
|
||||
In addition, mere aggregation of another work not based on the Library
|
||||
with the Library (or with a work based on the Library) on a volume of
|
||||
a storage or distribution medium does not bring the other work under
|
||||
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|
||||
|
||||
3. You may opt to apply the terms of the ordinary GNU General Public
|
||||
License instead of this License to a given copy of the Library. To do
|
||||
this, you must alter all the notices that refer to this License, so
|
||||
that they refer to the ordinary GNU General Public License, version 2,
|
||||
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|
||||
ordinary GNU General Public License has appeared, then you can specify
|
||||
that version instead if you wish.) Do not make any other change in
|
||||
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|
||||
|
||||
Once this change is made in a given copy, it is irreversible for
|
||||
that copy, so the ordinary GNU General Public License applies to all
|
||||
subsequent copies and derivative works made from that copy.
|
||||
|
||||
This option is useful when you wish to copy part of the code of
|
||||
the Library into a program that is not a library.
|
||||
|
||||
4. You may copy and distribute the Library (or a portion or
|
||||
derivative of it, under Section 2) in object code or executable form
|
||||
under the terms of Sections 1 and 2 above provided that you accompany
|
||||
it with the complete corresponding machine-readable source code, which
|
||||
must be distributed under the terms of Sections 1 and 2 above on a
|
||||
medium customarily used for software interchange.
|
||||
|
||||
If distribution of object code is made by offering access to copy
|
||||
from a designated place, then offering equivalent access to copy the
|
||||
source code from the same place satisfies the requirement to
|
||||
distribute the source code, even though third parties are not
|
||||
compelled to copy the source along with the object code.
|
||||
|
||||
5. A program that contains no derivative of any portion of the
|
||||
Library, but is designed to work with the Library by being compiled or
|
||||
linked with it, is called a "work that uses the Library". Such a
|
||||
work, in isolation, is not a derivative work of the Library, and
|
||||
therefore falls outside the scope of this License.
|
||||
|
||||
However, linking a "work that uses the Library" with the Library
|
||||
creates an executable that is a derivative of the Library (because it
|
||||
contains portions of the Library), rather than a "work that uses the
|
||||
library". The executable is therefore covered by this License.
|
||||
Section 6 states terms for distribution of such executables.
|
||||
|
||||
When a "work that uses the Library" uses material from a header file
|
||||
that is part of the Library, the object code for the work may be a
|
||||
derivative work of the Library even though the source code is not.
|
||||
Whether this is true is especially significant if the work can be
|
||||
linked without the Library, or if the work is itself a library. The
|
||||
threshold for this to be true is not precisely defined by law.
|
||||
|
||||
If such an object file uses only numerical parameters, data
|
||||
structure layouts and accessors, and small macros and small inline
|
||||
functions (ten lines or less in length), then the use of the object
|
||||
file is unrestricted, regardless of whether it is legally a derivative
|
||||
work. (Executables containing this object code plus portions of the
|
||||
Library will still fall under Section 6.)
|
||||
|
||||
Otherwise, if the work is a derivative of the Library, you may
|
||||
distribute the object code for the work under the terms of Section 6.
|
||||
Any executables containing that work also fall under Section 6,
|
||||
whether or not they are linked directly with the Library itself.
|
||||
|
||||
6. As an exception to the Sections above, you may also combine or
|
||||
link a "work that uses the Library" with the Library to produce a
|
||||
work containing portions of the Library, and distribute that work
|
||||
under terms of your choice, provided that the terms permit
|
||||
modification of the work for the customer's own use and reverse
|
||||
engineering for debugging such modifications.
|
||||
|
||||
You must give prominent notice with each copy of the work that the
|
||||
Library is used in it and that the Library and its use are covered by
|
||||
this License. You must supply a copy of this License. If the work
|
||||
during execution displays copyright notices, you must include the
|
||||
copyright notice for the Library among them, as well as a reference
|
||||
directing the user to the copy of this License. Also, you must do one
|
||||
of these things:
|
||||
|
||||
a) Accompany the work with the complete corresponding
|
||||
machine-readable source code for the Library including whatever
|
||||
changes were used in the work (which must be distributed under
|
||||
Sections 1 and 2 above); and, if the work is an executable linked
|
||||
with the Library, with the complete machine-readable "work that
|
||||
uses the Library", as object code and/or source code, so that the
|
||||
user can modify the Library and then relink to produce a modified
|
||||
executable containing the modified Library. (It is understood
|
||||
that the user who changes the contents of definitions files in the
|
||||
Library will not necessarily be able to recompile the application
|
||||
to use the modified definitions.)
|
||||
|
||||
b) Use a suitable shared library mechanism for linking with the
|
||||
Library. A suitable mechanism is one that (1) uses at run time a
|
||||
copy of the library already present on the user's computer system,
|
||||
rather than copying library functions into the executable, and (2)
|
||||
will operate properly with a modified version of the library, if
|
||||
the user installs one, as long as the modified version is
|
||||
interface-compatible with the version that the work was made with.
|
||||
|
||||
c) Accompany the work with a written offer, valid for at
|
||||
least three years, to give the same user the materials
|
||||
specified in Subsection 6a, above, for a charge no more
|
||||
than the cost of performing this distribution.
|
||||
|
||||
d) If distribution of the work is made by offering access to copy
|
||||
from a designated place, offer equivalent access to copy the above
|
||||
specified materials from the same place.
|
||||
|
||||
e) Verify that the user has already received a copy of these
|
||||
materials or that you have already sent this user a copy.
|
||||
|
||||
For an executable, the required form of the "work that uses the
|
||||
Library" must include any data and utility programs needed for
|
||||
reproducing the executable from it. However, as a special exception,
|
||||
the materials to be distributed need not include anything that is
|
||||
normally distributed (in either source or binary form) with the major
|
||||
components (compiler, kernel, and so on) of the operating system on
|
||||
which the executable runs, unless that component itself accompanies
|
||||
the executable.
|
||||
|
||||
It may happen that this requirement contradicts the license
|
||||
restrictions of other proprietary libraries that do not normally
|
||||
accompany the operating system. Such a contradiction means you cannot
|
||||
use both them and the Library together in an executable that you
|
||||
distribute.
|
||||
|
||||
7. You may place library facilities that are a work based on the
|
||||
Library side-by-side in a single library together with other library
|
||||
facilities not covered by this License, and distribute such a combined
|
||||
library, provided that the separate distribution of the work based on
|
||||
the Library and of the other library facilities is otherwise
|
||||
permitted, and provided that you do these two things:
|
||||
|
||||
a) Accompany the combined library with a copy of the same work
|
||||
based on the Library, uncombined with any other library
|
||||
facilities. This must be distributed under the terms of the
|
||||
Sections above.
|
||||
|
||||
b) Give prominent notice with the combined library of the fact
|
||||
that part of it is a work based on the Library, and explaining
|
||||
where to find the accompanying uncombined form of the same work.
|
||||
|
||||
8. You may not copy, modify, sublicense, link with, or distribute
|
||||
the Library except as expressly provided under this License. Any
|
||||
attempt otherwise to copy, modify, sublicense, link with, or
|
||||
distribute the Library is void, and will automatically terminate your
|
||||
rights under this License. However, parties who have received copies,
|
||||
or rights, from you under this License will not have their licenses
|
||||
terminated so long as such parties remain in full compliance.
|
||||
|
||||
9. You are not required to accept this License, since you have not
|
||||
signed it. However, nothing else grants you permission to modify or
|
||||
distribute the Library or its derivative works. These actions are
|
||||
prohibited by law if you do not accept this License. Therefore, by
|
||||
modifying or distributing the Library (or any work based on the
|
||||
Library), you indicate your acceptance of this License to do so, and
|
||||
all its terms and conditions for copying, distributing or modifying
|
||||
the Library or works based on it.
|
||||
|
||||
10. Each time you redistribute the Library (or any work based on the
|
||||
Library), the recipient automatically receives a license from the
|
||||
original licensor to copy, distribute, link with or modify the Library
|
||||
subject to these terms and conditions. You may not impose any further
|
||||
restrictions on the recipients' exercise of the rights granted herein.
|
||||
You are not responsible for enforcing compliance by third parties with
|
||||
this License.
|
||||
|
||||
11. If, as a consequence of a court judgment or allegation of patent
|
||||
infringement or for any other reason (not limited to patent issues),
|
||||
conditions are imposed on you (whether by court order, agreement or
|
||||
otherwise) that contradict the conditions of this License, they do not
|
||||
excuse you from the conditions of this License. If you cannot
|
||||
distribute so as to satisfy simultaneously your obligations under this
|
||||
License and any other pertinent obligations, then as a consequence you
|
||||
may not distribute the Library at all. For example, if a patent
|
||||
license would not permit royalty-free redistribution of the Library by
|
||||
all those who receive copies directly or indirectly through you, then
|
||||
the only way you could satisfy both it and this License would be to
|
||||
refrain entirely from distribution of the Library.
|
||||
|
||||
If any portion of this section is held invalid or unenforceable under any
|
||||
particular circumstance, the balance of the section is intended to apply,
|
||||
and the section as a whole is intended to apply in other circumstances.
|
||||
|
||||
It is not the purpose of this section to induce you to infringe any
|
||||
patents or other property right claims or to contest validity of any
|
||||
such claims; this section has the sole purpose of protecting the
|
||||
integrity of the free software distribution system which is
|
||||
implemented by public license practices. Many people have made
|
||||
generous contributions to the wide range of software distributed
|
||||
through that system in reliance on consistent application of that
|
||||
system; it is up to the author/donor to decide if he or she is willing
|
||||
to distribute software through any other system and a licensee cannot
|
||||
impose that choice.
|
||||
|
||||
This section is intended to make thoroughly clear what is believed to
|
||||
be a consequence of the rest of this License.
|
||||
|
||||
12. If the distribution and/or use of the Library is restricted in
|
||||
certain countries either by patents or by copyrighted interfaces, the
|
||||
original copyright holder who places the Library under this License may add
|
||||
an explicit geographical distribution limitation excluding those countries,
|
||||
so that distribution is permitted only in or among countries not thus
|
||||
excluded. In such case, this License incorporates the limitation as if
|
||||
written in the body of this License.
|
||||
|
||||
13. The Free Software Foundation may publish revised and/or new
|
||||
versions of the Lesser General Public License from time to time.
|
||||
Such new versions will be similar in spirit to the present version,
|
||||
but may differ in detail to address new problems or concerns.
|
||||
|
||||
Each version is given a distinguishing version number. If the Library
|
||||
specifies a version number of this License which applies to it and
|
||||
"any later version", you have the option of following the terms and
|
||||
conditions either of that version or of any later version published by
|
||||
the Free Software Foundation. If the Library does not specify a
|
||||
license version number, you may choose any version ever published by
|
||||
the Free Software Foundation.
|
||||
|
||||
14. If you wish to incorporate parts of the Library into other free
|
||||
programs whose distribution conditions are incompatible with these,
|
||||
write to the author to ask for permission. For software which is
|
||||
copyrighted by the Free Software Foundation, write to the Free
|
||||
Software Foundation; we sometimes make exceptions for this. Our
|
||||
decision will be guided by the two goals of preserving the free status
|
||||
of all derivatives of our free software and of promoting the sharing
|
||||
and reuse of software generally.
|
||||
|
||||
NO WARRANTY
|
||||
|
||||
15. BECAUSE THE LIBRARY IS LICENSED FREE OF CHARGE, THERE IS NO
|
||||
WARRANTY FOR THE LIBRARY, TO THE EXTENT PERMITTED BY APPLICABLE LAW.
|
||||
EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT HOLDERS AND/OR
|
||||
OTHER PARTIES PROVIDE THE LIBRARY "AS IS" WITHOUT WARRANTY OF ANY
|
||||
KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, THE
|
||||
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
|
||||
PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE
|
||||
LIBRARY IS WITH YOU. SHOULD THE LIBRARY PROVE DEFECTIVE, YOU ASSUME
|
||||
THE COST OF ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
|
||||
|
||||
16. IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN
|
||||
WRITING WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MAY MODIFY
|
||||
AND/OR REDISTRIBUTE THE LIBRARY AS PERMITTED ABOVE, BE LIABLE TO YOU
|
||||
FOR DAMAGES, INCLUDING ANY GENERAL, SPECIAL, INCIDENTAL OR
|
||||
CONSEQUENTIAL DAMAGES ARISING OUT OF THE USE OR INABILITY TO USE THE
|
||||
LIBRARY (INCLUDING BUT NOT LIMITED TO LOSS OF DATA OR DATA BEING
|
||||
RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD PARTIES OR A
|
||||
FAILURE OF THE LIBRARY TO OPERATE WITH ANY OTHER SOFTWARE), EVEN IF
|
||||
SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH
|
||||
DAMAGES.
|
||||
|
||||
@ -1,640 +0,0 @@
|
||||
/*
|
||||
* 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
|
||||
*/
|
||||
|
||||
/*
|
||||
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) 2009-2011 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
|
||||
License as published by the Free Software Foundation; either
|
||||
version 2.1 of the License, or (at your option) any later version.
|
||||
|
||||
See file LICENSE.txt for further informations on licensing terms.
|
||||
|
||||
formatted using the GNU C formatting and indenting
|
||||
*/
|
||||
|
||||
/*
|
||||
* 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_10BIT_ADDRESS_MODE_MASK B00100000
|
||||
|
||||
#define MAX_QUERIES 8
|
||||
#define MINIMUM_SAMPLING_INTERVAL 10
|
||||
|
||||
#define REGISTER_NOT_SPECIFIED -1
|
||||
|
||||
/*==============================================================================
|
||||
* GLOBAL VARIABLES
|
||||
*============================================================================*/
|
||||
|
||||
/* analog inputs */
|
||||
int analogInputsToReport = 0; // bitwise array to store pin reporting
|
||||
|
||||
/* digital input ports */
|
||||
byte reportPINs[TOTAL_PORTS]; // 1 = report this port, 0 = silence
|
||||
byte previousPINs[TOTAL_PORTS]; // previous 8 bits sent
|
||||
|
||||
/* pins configuration */
|
||||
byte pinConfig[TOTAL_PINS]; // configuration of every pin
|
||||
byte portConfigInputs[TOTAL_PORTS]; // each bit: 1 = pin in INPUT, 0 = anything else
|
||||
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
|
||||
int samplingInterval = 19; // how often to run the main loop (in ms)
|
||||
|
||||
/* i2c data */
|
||||
struct i2c_device_info {
|
||||
byte addr;
|
||||
byte reg;
|
||||
byte bytes;
|
||||
};
|
||||
|
||||
/* for i2c read continuous more */
|
||||
i2c_device_info query[MAX_QUERIES];
|
||||
|
||||
byte i2cRxData[32];
|
||||
boolean isI2CEnabled = false;
|
||||
signed char queryIndex = -1;
|
||||
unsigned int i2cReadDelayTime = 0; // default delay time between i2c read request and Wire.requestFrom()
|
||||
|
||||
Servo servos[MAX_SERVOS];
|
||||
/*==============================================================================
|
||||
* FUNCTIONS
|
||||
*============================================================================*/
|
||||
|
||||
void readAndReportData(byte address, int theRegister, byte numBytes) {
|
||||
// allow I2C requests that don't require a register read
|
||||
// for example, some devices using an interrupt pin to signify new data available
|
||||
// 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
|
||||
Wire.endTransmission();
|
||||
// do not set a value of 0
|
||||
if (i2cReadDelayTime > 0) {
|
||||
// delay is necessary for some devices such as WiiNunchuck
|
||||
delayMicroseconds(i2cReadDelayTime);
|
||||
}
|
||||
} 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()) {
|
||||
i2cRxData[0] = address;
|
||||
i2cRxData[1] = theRegister;
|
||||
for (int i = 0; i < numBytes; i++) {
|
||||
#if ARDUINO >= 100
|
||||
i2cRxData[2 + i] = Wire.read();
|
||||
#else
|
||||
i2cRxData[2 + i] = Wire.receive();
|
||||
#endif
|
||||
}
|
||||
}
|
||||
else {
|
||||
if (numBytes > Wire.available()) {
|
||||
Firmata.sendString("I2C Read Error: Too many bytes received");
|
||||
} else {
|
||||
Firmata.sendString("I2C Read Error: Too few bytes received");
|
||||
}
|
||||
}
|
||||
|
||||
// send slave address, register and received bytes
|
||||
Firmata.sendSysex(SYSEX_I2C_REPLY, numBytes + 2, i2cRxData);
|
||||
}
|
||||
|
||||
void outputPort(byte portNumber, byte portValue, byte forceSend)
|
||||
{
|
||||
// pins not configured as INPUT are cleared to zeros
|
||||
portValue = portValue & portConfigInputs[portNumber];
|
||||
// only send if the value is different than previously sent
|
||||
if (forceSend || previousPINs[portNumber] != portValue) {
|
||||
Firmata.sendDigitalPort(portNumber, portValue);
|
||||
previousPINs[portNumber] = portValue;
|
||||
}
|
||||
}
|
||||
|
||||
/* -----------------------------------------------------------------------------
|
||||
* check all the active digital inputs for change of state, then add any events
|
||||
* to the Serial output queue using Serial.print() */
|
||||
void checkDigitalInputs(void)
|
||||
{
|
||||
/* Using non-looping code allows constants to be given to readPort().
|
||||
* The compiler will apply substantial optimizations if the inputs
|
||||
* to readPort() are compile-time constants. */
|
||||
if (TOTAL_PORTS > 0 && reportPINs[0]) outputPort(0, readPort(0, portConfigInputs[0]), false);
|
||||
if (TOTAL_PORTS > 1 && reportPINs[1]) outputPort(1, readPort(1, portConfigInputs[1]), false);
|
||||
if (TOTAL_PORTS > 2 && reportPINs[2]) outputPort(2, readPort(2, portConfigInputs[2]), false);
|
||||
if (TOTAL_PORTS > 3 && reportPINs[3]) outputPort(3, readPort(3, portConfigInputs[3]), false);
|
||||
if (TOTAL_PORTS > 4 && reportPINs[4]) outputPort(4, readPort(4, portConfigInputs[4]), false);
|
||||
if (TOTAL_PORTS > 5 && reportPINs[5]) outputPort(5, readPort(5, portConfigInputs[5]), false);
|
||||
if (TOTAL_PORTS > 6 && reportPINs[6]) outputPort(6, readPort(6, portConfigInputs[6]), false);
|
||||
if (TOTAL_PORTS > 7 && reportPINs[7]) outputPort(7, readPort(7, portConfigInputs[7]), false);
|
||||
if (TOTAL_PORTS > 8 && reportPINs[8]) outputPort(8, readPort(8, portConfigInputs[8]), false);
|
||||
if (TOTAL_PORTS > 9 && reportPINs[9]) outputPort(9, readPort(9, portConfigInputs[9]), false);
|
||||
if (TOTAL_PORTS > 10 && reportPINs[10]) outputPort(10, readPort(10, portConfigInputs[10]), false);
|
||||
if (TOTAL_PORTS > 11 && reportPINs[11]) outputPort(11, readPort(11, portConfigInputs[11]), false);
|
||||
if (TOTAL_PORTS > 12 && reportPINs[12]) outputPort(12, readPort(12, portConfigInputs[12]), false);
|
||||
if (TOTAL_PORTS > 13 && reportPINs[13]) outputPort(13, readPort(13, portConfigInputs[13]), false);
|
||||
if (TOTAL_PORTS > 14 && reportPINs[14]) outputPort(14, readPort(14, portConfigInputs[14]), false);
|
||||
if (TOTAL_PORTS > 15 && reportPINs[15]) outputPort(15, readPort(15, portConfigInputs[15]), false);
|
||||
}
|
||||
|
||||
// -----------------------------------------------------------------------------
|
||||
/* sets the pin mode to the correct state and sets the relevant bits in the
|
||||
* two bit-arrays that track Digital I/O and PWM status
|
||||
*/
|
||||
void setPinModeCallback(byte pin, int mode)
|
||||
{
|
||||
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
|
||||
disableI2CPins();
|
||||
}
|
||||
if (IS_PIN_SERVO(pin) && mode != SERVO && servos[PIN_TO_SERVO(pin)].attached()) {
|
||||
servos[PIN_TO_SERVO(pin)].detach();
|
||||
}
|
||||
if (IS_PIN_ANALOG(pin)) {
|
||||
reportAnalogCallback(PIN_TO_ANALOG(pin), mode == ANALOG ? 1 : 0); // turn on/off reporting
|
||||
}
|
||||
if (IS_PIN_DIGITAL(pin)) {
|
||||
if (mode == INPUT) {
|
||||
portConfigInputs[pin / 8] |= (1 << (pin & 7));
|
||||
} else {
|
||||
portConfigInputs[pin / 8] &= ~(1 << (pin & 7));
|
||||
}
|
||||
}
|
||||
pinState[pin] = 0;
|
||||
switch (mode) {
|
||||
case ANALOG:
|
||||
if (IS_PIN_ANALOG(pin)) {
|
||||
if (IS_PIN_DIGITAL(pin)) {
|
||||
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
|
||||
digitalWrite(PIN_TO_DIGITAL(pin), LOW); // disable internal pull-ups
|
||||
pinConfig[pin] = INPUT;
|
||||
}
|
||||
break;
|
||||
case OUTPUT:
|
||||
if (IS_PIN_DIGITAL(pin)) {
|
||||
digitalWrite(PIN_TO_DIGITAL(pin), LOW); // disable PWM
|
||||
pinMode(PIN_TO_DIGITAL(pin), OUTPUT);
|
||||
pinConfig[pin] = OUTPUT;
|
||||
}
|
||||
break;
|
||||
case PWM:
|
||||
if (IS_PIN_PWM(pin)) {
|
||||
pinMode(PIN_TO_PWM(pin), OUTPUT);
|
||||
analogWrite(PIN_TO_PWM(pin), 0);
|
||||
pinConfig[pin] = PWM;
|
||||
}
|
||||
break;
|
||||
case SERVO:
|
||||
if (IS_PIN_SERVO(pin)) {
|
||||
pinConfig[pin] = SERVO;
|
||||
if (!servos[PIN_TO_SERVO(pin)].attached()) {
|
||||
servos[PIN_TO_SERVO(pin)].attach(PIN_TO_DIGITAL(pin));
|
||||
}
|
||||
}
|
||||
break;
|
||||
case I2C:
|
||||
if (IS_PIN_I2C(pin)) {
|
||||
// mark the pin as i2c
|
||||
// the user must call I2C_CONFIG to enable I2C for a device
|
||||
pinConfig[pin] = I2C;
|
||||
}
|
||||
break;
|
||||
default:
|
||||
Firmata.sendString("Unknown pin mode"); // TODO: put error msgs in EEPROM
|
||||
}
|
||||
// TODO: save status to EEPROM here, if changed
|
||||
}
|
||||
|
||||
void analogWriteCallback(byte pin, int value)
|
||||
{
|
||||
if (pin < TOTAL_PINS) {
|
||||
switch (pinConfig[pin]) {
|
||||
case SERVO:
|
||||
if (IS_PIN_SERVO(pin))
|
||||
servos[PIN_TO_SERVO(pin)].write(value);
|
||||
pinState[pin] = value;
|
||||
break;
|
||||
case PWM:
|
||||
if (IS_PIN_PWM(pin))
|
||||
analogWrite(PIN_TO_PWM(pin), value);
|
||||
pinState[pin] = value;
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void digitalWriteCallback(byte port, int value)
|
||||
{
|
||||
byte pin, lastPin, mask = 1, pinWriteMask = 0;
|
||||
|
||||
if (port < TOTAL_PORTS) {
|
||||
// create a mask of the pins on this port that are writable.
|
||||
lastPin = port * 8 + 8;
|
||||
if (lastPin > TOTAL_PINS) lastPin = TOTAL_PINS;
|
||||
for (pin = port * 8; pin < lastPin; pin++) {
|
||||
// do not disturb non-digital pins (eg, Rx & Tx)
|
||||
if (IS_PIN_DIGITAL(pin)) {
|
||||
// only write to OUTPUT and INPUT (enables pullup)
|
||||
// do not touch pins in PWM, ANALOG, SERVO or other modes
|
||||
if (pinConfig[pin] == OUTPUT || pinConfig[pin] == INPUT) {
|
||||
pinWriteMask |= mask;
|
||||
pinState[pin] = ((byte)value & mask) ? 1 : 0;
|
||||
}
|
||||
}
|
||||
mask = mask << 1;
|
||||
}
|
||||
writePort(port, (byte)value, pinWriteMask);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
// -----------------------------------------------------------------------------
|
||||
/* sets bits in a bit array (int) to toggle the reporting of the analogIns
|
||||
*/
|
||||
//void FirmataClass::setAnalogPinReporting(byte pin, byte state) {
|
||||
//}
|
||||
void reportAnalogCallback(byte analogPin, int value)
|
||||
{
|
||||
if (analogPin < TOTAL_ANALOG_PINS) {
|
||||
if (value == 0) {
|
||||
analogInputsToReport = analogInputsToReport &~ (1 << analogPin);
|
||||
} else {
|
||||
analogInputsToReport = analogInputsToReport | (1 << analogPin);
|
||||
}
|
||||
}
|
||||
// TODO: save status to EEPROM here, if changed
|
||||
}
|
||||
|
||||
void reportDigitalCallback(byte port, int value)
|
||||
{
|
||||
if (port < TOTAL_PORTS) {
|
||||
reportPINs[port] = (byte)value;
|
||||
}
|
||||
// do not disable analog reporting on these 8 pins, to allow some
|
||||
// pins used for digital, others analog. Instead, allow both types
|
||||
// of reporting to be enabled, but check if the pin is configured
|
||||
// as analog when sampling the analog inputs. Likewise, while
|
||||
// scanning digital pins, portConfigInputs will mask off values from any
|
||||
// pins configured as analog
|
||||
}
|
||||
|
||||
/*==============================================================================
|
||||
* SYSEX-BASED commands
|
||||
*============================================================================*/
|
||||
|
||||
void sysexCallback(byte command, byte argc, byte *argv)
|
||||
{
|
||||
byte mode;
|
||||
byte slaveAddress;
|
||||
byte slaveRegister;
|
||||
byte data;
|
||||
unsigned int delayTime;
|
||||
|
||||
switch (command) {
|
||||
case I2C_REQUEST:
|
||||
mode = argv[1] & I2C_READ_WRITE_MODE_MASK;
|
||||
if (argv[1] & I2C_10BIT_ADDRESS_MODE_MASK) {
|
||||
Firmata.sendString("10-bit addressing mode is not yet supported");
|
||||
return;
|
||||
}
|
||||
else {
|
||||
slaveAddress = argv[0];
|
||||
}
|
||||
|
||||
switch (mode) {
|
||||
case I2C_WRITE:
|
||||
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
|
||||
}
|
||||
Wire.endTransmission();
|
||||
delayMicroseconds(70);
|
||||
break;
|
||||
case I2C_READ:
|
||||
if (argc == 6) {
|
||||
// a slave register is specified
|
||||
slaveRegister = argv[2] + (argv[3] << 7);
|
||||
data = argv[4] + (argv[5] << 7); // bytes to read
|
||||
readAndReportData(slaveAddress, (int)slaveRegister, data);
|
||||
}
|
||||
else {
|
||||
// a slave register is NOT specified
|
||||
data = argv[2] + (argv[3] << 7); // bytes to read
|
||||
readAndReportData(slaveAddress, (int)REGISTER_NOT_SPECIFIED, data);
|
||||
}
|
||||
break;
|
||||
case I2C_READ_CONTINUOUSLY:
|
||||
if ((queryIndex + 1) >= MAX_QUERIES) {
|
||||
// too many queries, just ignore
|
||||
Firmata.sendString("too many queries");
|
||||
break;
|
||||
}
|
||||
queryIndex++;
|
||||
query[queryIndex].addr = slaveAddress;
|
||||
query[queryIndex].reg = argv[2] + (argv[3] << 7);
|
||||
query[queryIndex].bytes = argv[4] + (argv[5] << 7);
|
||||
break;
|
||||
case I2C_STOP_READING:
|
||||
byte queryIndexToSkip;
|
||||
// if read continuous mode is enabled for only 1 i2c device, disable
|
||||
// read continuous reporting for that device
|
||||
if (queryIndex <= 0) {
|
||||
queryIndex = -1;
|
||||
} 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
|
||||
for (byte i = 0; i < queryIndex + 1; i++) {
|
||||
if (query[i].addr = slaveAddress) {
|
||||
queryIndexToSkip = i;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
for (byte i = queryIndexToSkip; i < queryIndex + 1; i++) {
|
||||
if (i < MAX_QUERIES) {
|
||||
query[i].addr = query[i + 1].addr;
|
||||
query[i].reg = query[i + 1].addr;
|
||||
query[i].bytes = query[i + 1].bytes;
|
||||
}
|
||||
}
|
||||
queryIndex--;
|
||||
}
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
break;
|
||||
case I2C_CONFIG:
|
||||
delayTime = (argv[0] + (argv[1] << 7));
|
||||
|
||||
if (delayTime > 0) {
|
||||
i2cReadDelayTime = delayTime;
|
||||
}
|
||||
|
||||
if (!isI2CEnabled) {
|
||||
enableI2CPins();
|
||||
}
|
||||
|
||||
break;
|
||||
case SERVO_CONFIG:
|
||||
if (argc > 4) {
|
||||
// these vars are here for clarity, they'll optimized away by the compiler
|
||||
byte pin = argv[0];
|
||||
int minPulse = argv[1] + (argv[2] << 7);
|
||||
int maxPulse = argv[3] + (argv[4] << 7);
|
||||
|
||||
if (IS_PIN_SERVO(pin)) {
|
||||
if (servos[PIN_TO_SERVO(pin)].attached())
|
||||
servos[PIN_TO_SERVO(pin)].detach();
|
||||
servos[PIN_TO_SERVO(pin)].attach(PIN_TO_DIGITAL(pin), minPulse, maxPulse);
|
||||
setPinModeCallback(pin, SERVO);
|
||||
}
|
||||
}
|
||||
break;
|
||||
case SAMPLING_INTERVAL:
|
||||
if (argc > 1) {
|
||||
samplingInterval = argv[0] + (argv[1] << 7);
|
||||
if (samplingInterval < MINIMUM_SAMPLING_INTERVAL) {
|
||||
samplingInterval = MINIMUM_SAMPLING_INTERVAL;
|
||||
}
|
||||
} else {
|
||||
//Firmata.sendString("Not enough data");
|
||||
}
|
||||
break;
|
||||
case EXTENDED_ANALOG:
|
||||
if (argc > 1) {
|
||||
int val = argv[1];
|
||||
if (argc > 2) val |= (argv[2] << 7);
|
||||
if (argc > 3) val |= (argv[3] << 14);
|
||||
analogWriteCallback(argv[0], val);
|
||||
}
|
||||
break;
|
||||
case CAPABILITY_QUERY:
|
||||
Firmata.write(START_SYSEX);
|
||||
Firmata.write(CAPABILITY_RESPONSE);
|
||||
for (byte pin = 0; pin < TOTAL_PINS; pin++) {
|
||||
if (IS_PIN_DIGITAL(pin)) {
|
||||
Firmata.write((byte)INPUT);
|
||||
Firmata.write(1);
|
||||
Firmata.write((byte)OUTPUT);
|
||||
Firmata.write(1);
|
||||
}
|
||||
if (IS_PIN_ANALOG(pin)) {
|
||||
Firmata.write(ANALOG);
|
||||
Firmata.write(10);
|
||||
}
|
||||
if (IS_PIN_PWM(pin)) {
|
||||
Firmata.write(PWM);
|
||||
Firmata.write(8);
|
||||
}
|
||||
if (IS_PIN_SERVO(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(127);
|
||||
}
|
||||
Firmata.write(END_SYSEX);
|
||||
break;
|
||||
case PIN_STATE_QUERY:
|
||||
if (argc > 0) {
|
||||
byte pin = argv[0];
|
||||
Firmata.write(START_SYSEX);
|
||||
Firmata.write(PIN_STATE_RESPONSE);
|
||||
Firmata.write(pin);
|
||||
if (pin < TOTAL_PINS) {
|
||||
Firmata.write((byte)pinConfig[pin]);
|
||||
Firmata.write((byte)pinState[pin] & 0x7F);
|
||||
if (pinState[pin] & 0xFF80) Firmata.write((byte)(pinState[pin] >> 7) & 0x7F);
|
||||
if (pinState[pin] & 0xC000) Firmata.write((byte)(pinState[pin] >> 14) & 0x7F);
|
||||
}
|
||||
Firmata.write(END_SYSEX);
|
||||
}
|
||||
break;
|
||||
case ANALOG_MAPPING_QUERY:
|
||||
Firmata.write(START_SYSEX);
|
||||
Firmata.write(ANALOG_MAPPING_RESPONSE);
|
||||
for (byte pin = 0; pin < TOTAL_PINS; pin++) {
|
||||
Firmata.write(IS_PIN_ANALOG(pin) ? PIN_TO_ANALOG(pin) : 127);
|
||||
}
|
||||
Firmata.write(END_SYSEX);
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
void enableI2CPins()
|
||||
{
|
||||
byte i;
|
||||
// is there a faster way to do this? would probaby require importing
|
||||
// Arduino.h to get SCL and SDA pins
|
||||
for (i = 0; i < TOTAL_PINS; i++) {
|
||||
if (IS_PIN_I2C(i)) {
|
||||
// mark pins as i2c so they are ignore in non i2c data requests
|
||||
setPinModeCallback(i, I2C);
|
||||
}
|
||||
}
|
||||
|
||||
isI2CEnabled = true;
|
||||
|
||||
// is there enough time before the first I2C request to call this here?
|
||||
Wire.begin();
|
||||
}
|
||||
|
||||
/* disable the i2c pins so they can be used for other functions */
|
||||
void disableI2CPins() {
|
||||
isI2CEnabled = false;
|
||||
// disable read continuous mode for all devices
|
||||
queryIndex = -1;
|
||||
// uncomment the following if or when the end() method is added to Wire library
|
||||
// Wire.end();
|
||||
}
|
||||
|
||||
/*==============================================================================
|
||||
* SETUP()
|
||||
*============================================================================*/
|
||||
|
||||
void systemResetCallback()
|
||||
{
|
||||
// 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
|
||||
portConfigInputs[i] = 0; // until activated
|
||||
previousPINs[i] = 0;
|
||||
}
|
||||
// pins with analog capability default to analog input
|
||||
// otherwise, pins default to digital output
|
||||
for (byte 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 default, do not report any analog inputs
|
||||
analogInputsToReport = 0;
|
||||
|
||||
/* send digital inputs to set the initial state on the host computer,
|
||||
* 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);
|
||||
}
|
||||
*/
|
||||
}
|
||||
|
||||
void setup()
|
||||
{
|
||||
Firmata.setFirmwareVersion(FIRMATA_MAJOR_VERSION, FIRMATA_MINOR_VERSION);
|
||||
|
||||
Firmata.attach(ANALOG_MESSAGE, analogWriteCallback);
|
||||
Firmata.attach(DIGITAL_MESSAGE, digitalWriteCallback);
|
||||
Firmata.attach(REPORT_ANALOG, reportAnalogCallback);
|
||||
Firmata.attach(REPORT_DIGITAL, reportDigitalCallback);
|
||||
Firmata.attach(SET_PIN_MODE, setPinModeCallback);
|
||||
Firmata.attach(START_SYSEX, sysexCallback);
|
||||
Firmata.attach(SYSTEM_RESET, systemResetCallback);
|
||||
|
||||
Firmata.begin(57600);
|
||||
systemResetCallback(); // reset to default config
|
||||
}
|
||||
|
||||
/*==============================================================================
|
||||
* LOOP()
|
||||
*============================================================================*/
|
||||
void loop()
|
||||
{
|
||||
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 - 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));
|
||||
}
|
||||
}
|
||||
}
|
||||
// report i2c data for all device with read continuous mode enabled
|
||||
if (queryIndex > -1) {
|
||||
for (byte i = 0; i < queryIndex + 1; i++) {
|
||||
readAndReportData(query[i].addr, query[i].reg, query[i].bytes);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -1,458 +0,0 @@
|
||||
|
||||
GNU LESSER GENERAL PUBLIC LICENSE
|
||||
Version 2.1, February 1999
|
||||
|
||||
Copyright (C) 1991, 1999 Free Software Foundation, Inc.
|
||||
51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
|
||||
Everyone is permitted to copy and distribute verbatim copies
|
||||
of this license document, but changing it is not allowed.
|
||||
|
||||
[This is the first released version of the Lesser GPL. It also counts
|
||||
as the successor of the GNU Library Public License, version 2, hence
|
||||
the version number 2.1.]
|
||||
|
||||
Preamble
|
||||
|
||||
The licenses for most software are designed to take away your
|
||||
freedom to share and change it. By contrast, the GNU General Public
|
||||
Licenses are intended to guarantee your freedom to share and change
|
||||
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LIBRARY IS WITH YOU. SHOULD THE LIBRARY PROVE DEFECTIVE, YOU ASSUME
|
||||
THE COST OF ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
|
||||
|
||||
16. IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN
|
||||
WRITING WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MAY MODIFY
|
||||
AND/OR REDISTRIBUTE THE LIBRARY AS PERMITTED ABOVE, BE LIABLE TO YOU
|
||||
FOR DAMAGES, INCLUDING ANY GENERAL, SPECIAL, INCIDENTAL OR
|
||||
CONSEQUENTIAL DAMAGES ARISING OUT OF THE USE OR INABILITY TO USE THE
|
||||
LIBRARY (INCLUDING BUT NOT LIMITED TO LOSS OF DATA OR DATA BEING
|
||||
RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD PARTIES OR A
|
||||
FAILURE OF THE LIBRARY TO OPERATE WITH ANY OTHER SOFTWARE), EVEN IF
|
||||
SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH
|
||||
DAMAGES.
|
||||
|
||||
@ -1,71 +0,0 @@
|
||||
#Firmata
|
||||
|
||||
Firmata is a protocol for communicating with microcontrollers from software on a host computer. The [protocol](http://firmata.org/wiki/Protocol) can be implemented in firmware on any microcontroller architecture as well as software on any host computer software package. The arduino repository described here is a Firmata library for Arduino and Arduino-compatible devices. See the [firmata wiki](http://firmata.org/wiki/Main_Page) for additional informataion. If you would like to contribute to Firmata, please see the [Contributing](#contributing) section below.
|
||||
|
||||
##Usage
|
||||
|
||||
There are two main models of usage of Firmata. In one model, the author of the Arduino sketch uses the various methods provided by the Firmata library to selectively send and receive data between the Arduino device and the software running on the host computer. For example, a user can send analog data to the host using ``` Firmata.sendAnalog(analogPin, analogRead(analogPin)) ``` or send data packed in a string using ``` Firmata.sendString(stringToSend) ```. See File -> Examples -> Firmata -> AnalogFirmata & EchoString respectively for examples.
|
||||
|
||||
The second and more common model is to load a general purpose sketch called StandardFirmata on the Arduino board and then use the host computer exclusively to interact with the Arduino board. StandardFirmata is located in the Arduino IDE in File -> Examples -> Firmata.
|
||||
|
||||
##Firmata Client Libraries
|
||||
Most of the time you will be interacting with arduino with a client library on the host computers. Several Firmata client libraries have been implemented in a variety of popular programming languages:
|
||||
|
||||
* procesing
|
||||
* [https://github.com/firmata/processing]
|
||||
* [http://funnel.cc]
|
||||
* python
|
||||
* [https://github.com/firmata/pyduino]
|
||||
* [https://github.com/lupeke/python-firmata]
|
||||
* [https://github.com/tino/pyFirmata]
|
||||
* perl
|
||||
* [https://github.com/ntruchsess/perl-firmata]
|
||||
* [https://github.com/rcaputo/rx-firmata]
|
||||
* ruby
|
||||
* [https://github.com/hardbap/firmata]
|
||||
* [https://github.com/PlasticLizard/rufinol]
|
||||
* [http://funnel.cc]
|
||||
* clojure
|
||||
* [https://github.com/nakkaya/clodiuno]
|
||||
* javascript
|
||||
* [https://github.com/jgautier/firmata]
|
||||
* [http://breakoutjs.com]
|
||||
* [https://github.com/rwldrn/johnny-five]
|
||||
* java
|
||||
* [https://github.com/4ntoine/Firmata]
|
||||
* [https://github.com/shigeodayo/Javarduino]
|
||||
* .NET
|
||||
* [http://www.imagitronics.org/projects/firmatanet/]
|
||||
* Flash/AS3
|
||||
* [http://funnel.cc]
|
||||
* [http://code.google.com/p/as3glue/]
|
||||
* PHP
|
||||
* [https://bitbucket.org/ThomasWeinert/carica-firmata]
|
||||
|
||||
Note: The above libraries may support various versions of the Firmata protocol and therefore may not support all features of the latest Firmata spec nor all arduino and arduino-compatible boards. Refer to the respective projects for details.
|
||||
|
||||
|
||||
<a name="contributing" />
|
||||
##Contributing
|
||||
|
||||
If you discover a bug or would like to propose a new feature, please open a new [issue](https://github.com/firmata/arduino/issues?sort=created&state=open). Due to the limited memory of standard Arduino boards we cannot add every requested feature to StandardFirmata. Requests to add new features to StandardFirmata will be evaluated by the Firmata developers. However it is still possible to add new features to other Firmata implementations (Firmata is a protocol whereas StandardFirmata is just one of many possible implementations).
|
||||
|
||||
To contribute, fork this respository and create a new topic branch for the bug, feature or other existing issue you are addressing. Submit the pull request against the *dev* branch.
|
||||
|
||||
If you would like to contribute but don't have a specific bugfix or new feature to contribute, you can take on an existing issue, see issues labeled "pull-request-encouraged". Add a comment to the issue to express your intent to begin work and/or to get any additional information about the issue.
|
||||
|
||||
You must thorougly test your contributed code. In your pull request, describe tests performed to ensure that no existing code is broken and that any changes maintain backwards compatibility with the existing api. Test on multiple Arduino board variants if possible. We hope to enable some form of automated (or at least semi-automated) testing in the future, but for now any tests will need to be executed manually by the contributor and reviewsers.
|
||||
|
||||
Maintain the existing code style:
|
||||
|
||||
- Indentation is 2 spaces
|
||||
- Use spaces instead of tabs
|
||||
- Use camel case for both private and public properties and methods
|
||||
- Document functions (specific doc style is TBD... for now just be sure to document)
|
||||
- Insert first block bracket on line following the function definition:
|
||||
|
||||
<pre>void someFunction()
|
||||
{
|
||||
// do something
|
||||
}
|
||||
</pre>
|
||||
@ -1,62 +0,0 @@
|
||||
#######################################
|
||||
# Syntax Coloring Map For Firmata
|
||||
#######################################
|
||||
|
||||
#######################################
|
||||
# Datatypes (KEYWORD1)
|
||||
#######################################
|
||||
|
||||
Firmata KEYWORD1 Firmata
|
||||
callbackFunction KEYWORD1
|
||||
systemResetCallbackFunction KEYWORD1
|
||||
stringCallbackFunction KEYWORD1
|
||||
sysexCallbackFunction KEYWORD1
|
||||
|
||||
#######################################
|
||||
# Methods and Functions (KEYWORD2)
|
||||
#######################################
|
||||
|
||||
begin KEYWORD2
|
||||
begin KEYWORD2
|
||||
printVersion KEYWORD2
|
||||
blinkVersion KEYWORD2
|
||||
printFirmwareVersion KEYWORD2
|
||||
setFirmwareVersion KEYWORD2
|
||||
setFirmwareNameAndVersion KEYWORD2
|
||||
available KEYWORD2
|
||||
processInput KEYWORD2
|
||||
sendAnalog KEYWORD2
|
||||
sendDigital KEYWORD2
|
||||
sendDigitalPortPair KEYWORD2
|
||||
sendDigitalPort KEYWORD2
|
||||
sendString KEYWORD2
|
||||
sendString KEYWORD2
|
||||
sendSysex KEYWORD2
|
||||
attach KEYWORD2
|
||||
detach KEYWORD2
|
||||
flush KEYWORD2
|
||||
|
||||
|
||||
#######################################
|
||||
# Constants (LITERAL1)
|
||||
#######################################
|
||||
|
||||
MAX_DATA_BYTES LITERAL1
|
||||
|
||||
DIGITAL_MESSAGE LITERAL1
|
||||
ANALOG_MESSAGE LITERAL1
|
||||
REPORT_ANALOG LITERAL1
|
||||
REPORT_DIGITAL LITERAL1
|
||||
REPORT_VERSION LITERAL1
|
||||
SET_PIN_MODE LITERAL1
|
||||
SYSTEM_RESET LITERAL1
|
||||
|
||||
START_SYSEX LITERAL1
|
||||
END_SYSEX LITERAL1
|
||||
|
||||
PWM LITERAL1
|
||||
|
||||
TOTAL_ANALOG_PINS LITERAL1
|
||||
TOTAL_DIGITAL_PINS LITERAL1
|
||||
TOTAL_PORTS LITERAL1
|
||||
ANALOG_PORT LITERAL1
|
||||
@ -1,9 +0,0 @@
|
||||
name=Firmata
|
||||
version=2.3.8
|
||||
author=Firmata Developers
|
||||
maintainer=Firmata Developers <firmata-devel@lists.sourceforge.net>
|
||||
sentence=Enables the communication with computer apps using a standard serial protocol. For all Arduino boards.
|
||||
paragraph=The Firmata library implements the Firmata protocol for communicating with software on the host computer. This allows you to write custom firmware without having to create your own protocol and objects for the programming environment that you are using.
|
||||
category=Device Control
|
||||
url=http://firmata.org
|
||||
architectures=*
|
||||
@ -1,425 +0,0 @@
|
||||
/* Boards.h - Hardware Abstraction Layer for Firmata library */
|
||||
|
||||
#ifndef Firmata_Boards_h
|
||||
#define Firmata_Boards_h
|
||||
|
||||
#include <inttypes.h>
|
||||
|
||||
#if defined(ARDUINO) && ARDUINO >= 100
|
||||
#include "Arduino.h" // for digitalRead, digitalWrite, etc
|
||||
#else
|
||||
#include "WProgram.h"
|
||||
#endif
|
||||
|
||||
// Normally Servo.h must be included before Firmata.h (which then includes
|
||||
// this file). If Servo.h wasn't included, this allows the code to still
|
||||
// compile, but without support for any Servos. Hopefully that's what the
|
||||
// user intended by not including Servo.h
|
||||
#ifndef MAX_SERVOS
|
||||
#define MAX_SERVOS 0
|
||||
#endif
|
||||
|
||||
/*
|
||||
Firmata Hardware Abstraction Layer
|
||||
|
||||
Firmata is built on top of the hardware abstraction functions of Arduino,
|
||||
specifically digitalWrite, digitalRead, analogWrite, analogRead, and
|
||||
pinMode. While these functions offer simple integer pin numbers, Firmata
|
||||
needs more information than is provided by Arduino. This file provides
|
||||
all other hardware specific details. To make Firmata support a new board,
|
||||
only this file should require editing.
|
||||
|
||||
The key concept is every "pin" implemented by Firmata may be mapped to
|
||||
any pin as implemented by Arduino. Usually a simple 1-to-1 mapping is
|
||||
best, but such mapping should not be assumed. This hardware abstraction
|
||||
layer allows Firmata to implement any number of pins which map onto the
|
||||
Arduino implemented pins in almost any arbitrary way.
|
||||
|
||||
|
||||
General Constants:
|
||||
|
||||
These constants provide basic information Firmata requires.
|
||||
|
||||
TOTAL_PINS: The total number of pins Firmata implemented by Firmata.
|
||||
Usually this will match the number of pins the Arduino functions
|
||||
implement, including any pins pins capable of analog or digital.
|
||||
However, Firmata may implement any number of pins. For example,
|
||||
on Arduino Mini with 8 analog inputs, 6 of these may be used
|
||||
for digital functions, and 2 are analog only. On such boards,
|
||||
Firmata can implement more pins than Arduino's pinMode()
|
||||
function, in order to accommodate those special pins. The
|
||||
Firmata protocol supports a maximum of 128 pins, so this
|
||||
constant must not exceed 128.
|
||||
|
||||
TOTAL_ANALOG_PINS: The total number of analog input pins implemented.
|
||||
The Firmata protocol allows up to 16 analog inputs, accessed
|
||||
using offsets 0 to 15. Because Firmata presents the analog
|
||||
inputs using different offsets than the actual pin numbers
|
||||
(a legacy of Arduino's analogRead function, and the way the
|
||||
analog input capable pins are physically labeled on all
|
||||
Arduino boards), the total number of analog input signals
|
||||
must be specified. 16 is the maximum.
|
||||
|
||||
VERSION_BLINK_PIN: When Firmata starts up, it will blink the version
|
||||
number. This constant is the Arduino pin number where a
|
||||
LED is connected.
|
||||
|
||||
|
||||
Pin Mapping Macros:
|
||||
|
||||
These macros provide the mapping between pins as implemented by
|
||||
Firmata protocol and the actual pin numbers used by the Arduino
|
||||
functions. Even though such mappings are often simple, pin
|
||||
numbers received by Firmata protocol should always be used as
|
||||
input to these macros, and the result of the macro should be
|
||||
used with with any Arduino function.
|
||||
|
||||
When Firmata is extended to support a new pin mode or feature,
|
||||
a pair of macros should be added and used for all hardware
|
||||
access. For simple 1:1 mapping, these macros add no actual
|
||||
overhead, yet their consistent use allows source code which
|
||||
uses them consistently to be easily adapted to all other boards
|
||||
with different requirements.
|
||||
|
||||
IS_PIN_XXXX(pin): The IS_PIN macros resolve to true or non-zero
|
||||
if a pin as implemented by Firmata corresponds to a pin
|
||||
that actually implements the named feature.
|
||||
|
||||
PIN_TO_XXXX(pin): The PIN_TO macros translate pin numbers as
|
||||
implemented by Firmata to the pin numbers needed as inputs
|
||||
to the Arduino functions. The corresponding IS_PIN macro
|
||||
should always be tested before using a PIN_TO macro, so
|
||||
these macros only need to handle valid Firmata pin
|
||||
numbers for the named feature.
|
||||
|
||||
|
||||
Port Access Inline Funtions:
|
||||
|
||||
For efficiency, Firmata protocol provides access to digital
|
||||
input and output pins grouped by 8 bit ports. When these
|
||||
groups of 8 correspond to actual 8 bit ports as implemented
|
||||
by the hardware, these inline functions can provide high
|
||||
speed direct port access. Otherwise, a default implementation
|
||||
using 8 calls to digitalWrite or digitalRead is used.
|
||||
|
||||
When porting Firmata to a new board, it is recommended to
|
||||
use the default functions first and focus only on the constants
|
||||
and macros above. When those are working, if optimized port
|
||||
access is desired, these inline functions may be extended.
|
||||
The recommended approach defines a symbol indicating which
|
||||
optimization to use, and then conditional complication is
|
||||
used within these functions.
|
||||
|
||||
readPort(port, bitmask): Read an 8 bit port, returning the value.
|
||||
port: The port number, Firmata pins port*8 to port*8+7
|
||||
bitmask: The actual pins to read, indicated by 1 bits.
|
||||
|
||||
writePort(port, value, bitmask): Write an 8 bit port.
|
||||
port: The port number, Firmata pins port*8 to port*8+7
|
||||
value: The 8 bit value to write
|
||||
bitmask: The actual pins to write, indicated by 1 bits.
|
||||
*/
|
||||
|
||||
/*==============================================================================
|
||||
* Board Specific Configuration
|
||||
*============================================================================*/
|
||||
|
||||
#ifndef digitalPinHasPWM
|
||||
#define digitalPinHasPWM(p) IS_PIN_DIGITAL(p)
|
||||
#endif
|
||||
|
||||
// Arduino Duemilanove, Diecimila, and NG
|
||||
#if defined(__AVR_ATmega168__) || defined(__AVR_ATmega328P__)
|
||||
#if defined(NUM_ANALOG_INPUTS) && NUM_ANALOG_INPUTS == 6
|
||||
#define TOTAL_ANALOG_PINS 6
|
||||
#define TOTAL_PINS 20 // 14 digital + 6 analog
|
||||
#else
|
||||
#define TOTAL_ANALOG_PINS 8
|
||||
#define TOTAL_PINS 22 // 14 digital + 8 analog
|
||||
#endif
|
||||
#define VERSION_BLINK_PIN 13
|
||||
#define IS_PIN_DIGITAL(p) ((p) >= 2 && (p) <= 19)
|
||||
#define IS_PIN_ANALOG(p) ((p) >= 14 && (p) < 14 + TOTAL_ANALOG_PINS)
|
||||
#define IS_PIN_PWM(p) digitalPinHasPWM(p)
|
||||
#define IS_PIN_SERVO(p) (IS_PIN_DIGITAL(p) && (p) - 2 < MAX_SERVOS)
|
||||
#define IS_PIN_I2C(p) ((p) == 18 || (p) == 19)
|
||||
#define IS_PIN_SPI(p) ((p) == SS || (p) == MOSI || (p) == MISO || (p) == SCK)
|
||||
#define PIN_TO_DIGITAL(p) (p)
|
||||
#define PIN_TO_ANALOG(p) ((p) - 14)
|
||||
#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p)
|
||||
#define PIN_TO_SERVO(p) ((p) - 2)
|
||||
#define ARDUINO_PINOUT_OPTIMIZE 1
|
||||
|
||||
|
||||
// Wiring (and board)
|
||||
#elif defined(WIRING)
|
||||
#define VERSION_BLINK_PIN WLED
|
||||
#define IS_PIN_DIGITAL(p) ((p) >= 0 && (p) < TOTAL_PINS)
|
||||
#define IS_PIN_ANALOG(p) ((p) >= FIRST_ANALOG_PIN && (p) < (FIRST_ANALOG_PIN+TOTAL_ANALOG_PINS))
|
||||
#define IS_PIN_PWM(p) digitalPinHasPWM(p)
|
||||
#define IS_PIN_SERVO(p) ((p) >= 0 && (p) < MAX_SERVOS)
|
||||
#define IS_PIN_I2C(p) ((p) == SDA || (p) == SCL)
|
||||
#define IS_PIN_SPI(p) ((p) == SS || (p) == MOSI || (p) == MISO || (p) == SCK)
|
||||
#define PIN_TO_DIGITAL(p) (p)
|
||||
#define PIN_TO_ANALOG(p) ((p) - FIRST_ANALOG_PIN)
|
||||
#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p)
|
||||
#define PIN_TO_SERVO(p) (p)
|
||||
|
||||
|
||||
// old Arduinos
|
||||
#elif defined(__AVR_ATmega8__)
|
||||
#define TOTAL_ANALOG_PINS 6
|
||||
#define TOTAL_PINS 20 // 14 digital + 6 analog
|
||||
#define VERSION_BLINK_PIN 13
|
||||
#define IS_PIN_DIGITAL(p) ((p) >= 2 && (p) <= 19)
|
||||
#define IS_PIN_ANALOG(p) ((p) >= 14 && (p) <= 19)
|
||||
#define IS_PIN_PWM(p) digitalPinHasPWM(p)
|
||||
#define IS_PIN_SERVO(p) (IS_PIN_DIGITAL(p) && (p) - 2 < MAX_SERVOS)
|
||||
#define IS_PIN_I2C(p) ((p) == 18 || (p) == 19)
|
||||
#define PIN_TO_DIGITAL(p) (p)
|
||||
#define PIN_TO_ANALOG(p) ((p) - 14)
|
||||
#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p)
|
||||
#define PIN_TO_SERVO(p) ((p) - 2)
|
||||
#define ARDUINO_PINOUT_OPTIMIZE 1
|
||||
|
||||
|
||||
// Arduino Mega
|
||||
#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
|
||||
#define TOTAL_ANALOG_PINS 16
|
||||
#define TOTAL_PINS 70 // 54 digital + 16 analog
|
||||
#define VERSION_BLINK_PIN 13
|
||||
#define IS_PIN_DIGITAL(p) ((p) >= 2 && (p) < TOTAL_PINS)
|
||||
#define IS_PIN_ANALOG(p) ((p) >= 54 && (p) < TOTAL_PINS)
|
||||
#define IS_PIN_PWM(p) digitalPinHasPWM(p)
|
||||
#define IS_PIN_SERVO(p) ((p) >= 2 && (p) - 2 < MAX_SERVOS)
|
||||
#define IS_PIN_I2C(p) ((p) == 20 || (p) == 21)
|
||||
#define IS_PIN_SPI(p) ((p) == SS || (p) == MOSI || (p) == MISO || (p) == SCK)
|
||||
#define PIN_TO_DIGITAL(p) (p)
|
||||
#define PIN_TO_ANALOG(p) ((p) - 54)
|
||||
#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p)
|
||||
#define PIN_TO_SERVO(p) ((p) - 2)
|
||||
|
||||
|
||||
// Arduino DUE
|
||||
#elif defined(__SAM3X8E__)
|
||||
#define TOTAL_ANALOG_PINS 12
|
||||
#define TOTAL_PINS 66 // 54 digital + 12 analog
|
||||
#define VERSION_BLINK_PIN 13
|
||||
#define IS_PIN_DIGITAL(p) ((p) >= 2 && (p) < TOTAL_PINS)
|
||||
#define IS_PIN_ANALOG(p) ((p) >= 54 && (p) < TOTAL_PINS)
|
||||
#define IS_PIN_PWM(p) digitalPinHasPWM(p)
|
||||
#define IS_PIN_SERVO(p) ((p) >= 2 && (p) - 2 < MAX_SERVOS)
|
||||
#define IS_PIN_I2C(p) ((p) == 20 || (p) == 21) // 70 71
|
||||
#define PIN_TO_DIGITAL(p) (p)
|
||||
#define PIN_TO_ANALOG(p) ((p) - 54)
|
||||
#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p)
|
||||
#define PIN_TO_SERVO(p) ((p) - 2)
|
||||
|
||||
|
||||
// Teensy 1.0
|
||||
#elif defined(__AVR_AT90USB162__)
|
||||
#define TOTAL_ANALOG_PINS 0
|
||||
#define TOTAL_PINS 21 // 21 digital + no analog
|
||||
#define VERSION_BLINK_PIN 6
|
||||
#define IS_PIN_DIGITAL(p) ((p) >= 0 && (p) < TOTAL_PINS)
|
||||
#define IS_PIN_ANALOG(p) (0)
|
||||
#define IS_PIN_PWM(p) digitalPinHasPWM(p)
|
||||
#define IS_PIN_SERVO(p) ((p) >= 0 && (p) < MAX_SERVOS)
|
||||
#define IS_PIN_I2C(p) (0)
|
||||
#define IS_PIN_SPI(p) ((p) == SS || (p) == MOSI || (p) == MISO || (p) == SCK)
|
||||
#define PIN_TO_DIGITAL(p) (p)
|
||||
#define PIN_TO_ANALOG(p) (0)
|
||||
#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p)
|
||||
#define PIN_TO_SERVO(p) (p)
|
||||
|
||||
|
||||
// Teensy 2.0
|
||||
#elif defined(__AVR_ATmega32U4__) && defined(CORE_TEENSY)
|
||||
#define TOTAL_ANALOG_PINS 12
|
||||
#define TOTAL_PINS 25 // 11 digital + 12 analog
|
||||
#define VERSION_BLINK_PIN 11
|
||||
#define IS_PIN_DIGITAL(p) ((p) >= 0 && (p) < TOTAL_PINS)
|
||||
#define IS_PIN_ANALOG(p) ((p) >= 11 && (p) <= 22)
|
||||
#define IS_PIN_PWM(p) digitalPinHasPWM(p)
|
||||
#define IS_PIN_SERVO(p) ((p) >= 0 && (p) < MAX_SERVOS)
|
||||
#define IS_PIN_I2C(p) ((p) == 5 || (p) == 6)
|
||||
#define IS_PIN_SPI(p) ((p) == SS || (p) == MOSI || (p) == MISO || (p) == SCK)
|
||||
#define PIN_TO_DIGITAL(p) (p)
|
||||
#define PIN_TO_ANALOG(p) (((p)<22)?21-(p):11)
|
||||
#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p)
|
||||
#define PIN_TO_SERVO(p) (p)
|
||||
|
||||
|
||||
// Teensy 3.0
|
||||
#elif defined(__MK20DX128__)
|
||||
#define TOTAL_ANALOG_PINS 14
|
||||
#define TOTAL_PINS 38 // 24 digital + 10 analog-digital + 4 analog
|
||||
#define VERSION_BLINK_PIN 13
|
||||
#define IS_PIN_DIGITAL(p) ((p) >= 0 && (p) <= 34)
|
||||
#define IS_PIN_ANALOG(p) (((p) >= 14 && (p) <= 23) || ((p) >= 34 && (p) <= 38))
|
||||
#define IS_PIN_PWM(p) digitalPinHasPWM(p)
|
||||
#define IS_PIN_SERVO(p) ((p) >= 0 && (p) < MAX_SERVOS)
|
||||
#define IS_PIN_I2C(p) ((p) == 18 || (p) == 19)
|
||||
#define PIN_TO_DIGITAL(p) (p)
|
||||
#define PIN_TO_ANALOG(p) (((p)<=23)?(p)-14:(p)-24)
|
||||
#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p)
|
||||
#define PIN_TO_SERVO(p) (p)
|
||||
|
||||
|
||||
// Teensy++ 1.0 and 2.0
|
||||
#elif defined(__AVR_AT90USB646__) || defined(__AVR_AT90USB1286__)
|
||||
#define TOTAL_ANALOG_PINS 8
|
||||
#define TOTAL_PINS 46 // 38 digital + 8 analog
|
||||
#define VERSION_BLINK_PIN 6
|
||||
#define IS_PIN_DIGITAL(p) ((p) >= 0 && (p) < TOTAL_PINS)
|
||||
#define IS_PIN_ANALOG(p) ((p) >= 38 && (p) < TOTAL_PINS)
|
||||
#define IS_PIN_PWM(p) digitalPinHasPWM(p)
|
||||
#define IS_PIN_SERVO(p) ((p) >= 0 && (p) < MAX_SERVOS)
|
||||
#define IS_PIN_I2C(p) ((p) == 0 || (p) == 1)
|
||||
#define IS_PIN_SPI(p) ((p) == SS || (p) == MOSI || (p) == MISO || (p) == SCK)
|
||||
#define PIN_TO_DIGITAL(p) (p)
|
||||
#define PIN_TO_ANALOG(p) ((p) - 38)
|
||||
#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p)
|
||||
#define PIN_TO_SERVO(p) (p)
|
||||
|
||||
|
||||
// Leonardo
|
||||
#elif defined(__AVR_ATmega32U4__)
|
||||
#define TOTAL_ANALOG_PINS 12
|
||||
#define TOTAL_PINS 30 // 14 digital + 12 analog + 4 SPI (D14-D17 on ISP header)
|
||||
#define VERSION_BLINK_PIN 13
|
||||
#define IS_PIN_DIGITAL(p) ((p) >= 0 && (p) < TOTAL_PINS)
|
||||
#define IS_PIN_ANALOG(p) ((p) >= 18 && (p) < TOTAL_PINS)
|
||||
#define IS_PIN_PWM(p) ((p) == 3 || (p) == 5 || (p) == 6 || (p) == 9 || (p) == 10 || (p) == 11 || (p) == 13)
|
||||
#define IS_PIN_SERVO(p) ((p) >= 0 && (p) < MAX_SERVOS)
|
||||
#define IS_PIN_I2C(p) ((p) == 2 || (p) == 3)
|
||||
#define IS_PIN_SPI(p) ((p) == SS || (p) == MOSI || (p) == MISO || (p) == SCK)
|
||||
#define PIN_TO_DIGITAL(p) (p)
|
||||
#define PIN_TO_ANALOG(p) (p) - 18
|
||||
#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p)
|
||||
#define PIN_TO_SERVO(p) (p)
|
||||
|
||||
|
||||
// Sanguino
|
||||
#elif defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644__)
|
||||
#define TOTAL_ANALOG_PINS 8
|
||||
#define TOTAL_PINS 32 // 24 digital + 8 analog
|
||||
#define VERSION_BLINK_PIN 0
|
||||
#define IS_PIN_DIGITAL(p) ((p) >= 2 && (p) < TOTAL_PINS)
|
||||
#define IS_PIN_ANALOG(p) ((p) >= 24 && (p) < TOTAL_PINS)
|
||||
#define IS_PIN_PWM(p) digitalPinHasPWM(p)
|
||||
#define IS_PIN_SERVO(p) ((p) >= 0 && (p) < MAX_SERVOS)
|
||||
#define IS_PIN_I2C(p) ((p) == 16 || (p) == 17)
|
||||
#define PIN_TO_DIGITAL(p) (p)
|
||||
#define PIN_TO_ANALOG(p) ((p) - 24)
|
||||
#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p)
|
||||
#define PIN_TO_SERVO(p) ((p) - 2)
|
||||
|
||||
|
||||
// Illuminato
|
||||
#elif defined(__AVR_ATmega645__)
|
||||
#define TOTAL_ANALOG_PINS 6
|
||||
#define TOTAL_PINS 42 // 36 digital + 6 analog
|
||||
#define VERSION_BLINK_PIN 13
|
||||
#define IS_PIN_DIGITAL(p) ((p) >= 2 && (p) < TOTAL_PINS)
|
||||
#define IS_PIN_ANALOG(p) ((p) >= 36 && (p) < TOTAL_PINS)
|
||||
#define IS_PIN_PWM(p) digitalPinHasPWM(p)
|
||||
#define IS_PIN_SERVO(p) ((p) >= 0 && (p) < MAX_SERVOS)
|
||||
#define IS_PIN_I2C(p) ((p) == 4 || (p) == 5)
|
||||
#define PIN_TO_DIGITAL(p) (p)
|
||||
#define PIN_TO_ANALOG(p) ((p) - 36)
|
||||
#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p)
|
||||
#define PIN_TO_SERVO(p) ((p) - 2)
|
||||
|
||||
|
||||
// anything else
|
||||
#else
|
||||
#error "Please edit Boards.h with a hardware abstraction for this board"
|
||||
#endif
|
||||
|
||||
// as long this is not defined for all boards:
|
||||
#ifndef IS_PIN_SPI(p)
|
||||
#define IS_PIN_SPI(p) 0
|
||||
#endif
|
||||
|
||||
/*==============================================================================
|
||||
* readPort() - Read an 8 bit port
|
||||
*============================================================================*/
|
||||
|
||||
static inline unsigned char readPort(byte, byte) __attribute__((always_inline, unused));
|
||||
static inline unsigned char readPort(byte port, byte bitmask)
|
||||
{
|
||||
#if defined(ARDUINO_PINOUT_OPTIMIZE)
|
||||
if (port == 0) return (PIND & 0xFC) & bitmask; // ignore Rx/Tx 0/1
|
||||
if (port == 1) return ((PINB & 0x3F) | ((PINC & 0x03) << 6)) & bitmask;
|
||||
if (port == 2) return ((PINC & 0x3C) >> 2) & bitmask;
|
||||
return 0;
|
||||
#else
|
||||
unsigned char out=0, pin=port*8;
|
||||
if (IS_PIN_DIGITAL(pin+0) && (bitmask & 0x01) && digitalRead(PIN_TO_DIGITAL(pin+0))) out |= 0x01;
|
||||
if (IS_PIN_DIGITAL(pin+1) && (bitmask & 0x02) && digitalRead(PIN_TO_DIGITAL(pin+1))) out |= 0x02;
|
||||
if (IS_PIN_DIGITAL(pin+2) && (bitmask & 0x04) && digitalRead(PIN_TO_DIGITAL(pin+2))) out |= 0x04;
|
||||
if (IS_PIN_DIGITAL(pin+3) && (bitmask & 0x08) && digitalRead(PIN_TO_DIGITAL(pin+3))) out |= 0x08;
|
||||
if (IS_PIN_DIGITAL(pin+4) && (bitmask & 0x10) && digitalRead(PIN_TO_DIGITAL(pin+4))) out |= 0x10;
|
||||
if (IS_PIN_DIGITAL(pin+5) && (bitmask & 0x20) && digitalRead(PIN_TO_DIGITAL(pin+5))) out |= 0x20;
|
||||
if (IS_PIN_DIGITAL(pin+6) && (bitmask & 0x40) && digitalRead(PIN_TO_DIGITAL(pin+6))) out |= 0x40;
|
||||
if (IS_PIN_DIGITAL(pin+7) && (bitmask & 0x80) && digitalRead(PIN_TO_DIGITAL(pin+7))) out |= 0x80;
|
||||
return out;
|
||||
#endif
|
||||
}
|
||||
|
||||
/*==============================================================================
|
||||
* writePort() - Write an 8 bit port, only touch pins specified by a bitmask
|
||||
*============================================================================*/
|
||||
|
||||
static inline unsigned char writePort(byte, byte, byte) __attribute__((always_inline, unused));
|
||||
static inline unsigned char writePort(byte port, byte value, byte bitmask)
|
||||
{
|
||||
#if defined(ARDUINO_PINOUT_OPTIMIZE)
|
||||
if (port == 0) {
|
||||
bitmask = bitmask & 0xFC; // do not touch Tx & Rx pins
|
||||
byte valD = value & bitmask;
|
||||
byte maskD = ~bitmask;
|
||||
cli();
|
||||
PORTD = (PORTD & maskD) | valD;
|
||||
sei();
|
||||
} else if (port == 1) {
|
||||
byte valB = (value & bitmask) & 0x3F;
|
||||
byte valC = (value & bitmask) >> 6;
|
||||
byte maskB = ~(bitmask & 0x3F);
|
||||
byte maskC = ~((bitmask & 0xC0) >> 6);
|
||||
cli();
|
||||
PORTB = (PORTB & maskB) | valB;
|
||||
PORTC = (PORTC & maskC) | valC;
|
||||
sei();
|
||||
} else if (port == 2) {
|
||||
bitmask = bitmask & 0x0F;
|
||||
byte valC = (value & bitmask) << 2;
|
||||
byte maskC = ~(bitmask << 2);
|
||||
cli();
|
||||
PORTC = (PORTC & maskC) | valC;
|
||||
sei();
|
||||
}
|
||||
#else
|
||||
byte pin=port*8;
|
||||
if ((bitmask & 0x01)) digitalWrite(PIN_TO_DIGITAL(pin+0), (value & 0x01));
|
||||
if ((bitmask & 0x02)) digitalWrite(PIN_TO_DIGITAL(pin+1), (value & 0x02));
|
||||
if ((bitmask & 0x04)) digitalWrite(PIN_TO_DIGITAL(pin+2), (value & 0x04));
|
||||
if ((bitmask & 0x08)) digitalWrite(PIN_TO_DIGITAL(pin+3), (value & 0x08));
|
||||
if ((bitmask & 0x10)) digitalWrite(PIN_TO_DIGITAL(pin+4), (value & 0x10));
|
||||
if ((bitmask & 0x20)) digitalWrite(PIN_TO_DIGITAL(pin+5), (value & 0x20));
|
||||
if ((bitmask & 0x40)) digitalWrite(PIN_TO_DIGITAL(pin+6), (value & 0x40));
|
||||
if ((bitmask & 0x80)) digitalWrite(PIN_TO_DIGITAL(pin+7), (value & 0x80));
|
||||
#endif
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
#ifndef TOTAL_PORTS
|
||||
#define TOTAL_PORTS ((TOTAL_PINS + 7) / 8)
|
||||
#endif
|
||||
|
||||
|
||||
#endif /* Firmata_Boards_h */
|
||||
|
||||
@ -1,463 +0,0 @@
|
||||
/*
|
||||
Firmata.cpp - Firmata library
|
||||
Copyright (C) 2006-2008 Hans-Christoph Steiner. 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
|
||||
License as published by the Free Software Foundation; either
|
||||
version 2.1 of the License, or (at your option) any later version.
|
||||
|
||||
See file LICENSE.txt for further informations on licensing terms.
|
||||
*/
|
||||
|
||||
//******************************************************************************
|
||||
//* Includes
|
||||
//******************************************************************************
|
||||
|
||||
#include "Firmata.h"
|
||||
#include "HardwareSerial.h"
|
||||
|
||||
extern "C" {
|
||||
#include <string.h>
|
||||
#include <stdlib.h>
|
||||
}
|
||||
|
||||
//******************************************************************************
|
||||
//* Support Functions
|
||||
//******************************************************************************
|
||||
|
||||
void FirmataClass::sendValueAsTwo7bitBytes(int value)
|
||||
{
|
||||
FirmataSerial->write(value & B01111111); // LSB
|
||||
FirmataSerial->write(value >> 7 & B01111111); // MSB
|
||||
}
|
||||
|
||||
void FirmataClass::startSysex(void)
|
||||
{
|
||||
FirmataSerial->write(START_SYSEX);
|
||||
}
|
||||
|
||||
void FirmataClass::endSysex(void)
|
||||
{
|
||||
FirmataSerial->write(END_SYSEX);
|
||||
}
|
||||
|
||||
//******************************************************************************
|
||||
//* Constructors
|
||||
//******************************************************************************
|
||||
|
||||
FirmataClass::FirmataClass()
|
||||
{
|
||||
firmwareVersionCount = 0;
|
||||
firmwareVersionVector = 0;
|
||||
systemReset();
|
||||
}
|
||||
|
||||
//******************************************************************************
|
||||
//* Public Methods
|
||||
//******************************************************************************
|
||||
|
||||
/* begin method with default serial bitrate */
|
||||
void FirmataClass::begin(void)
|
||||
{
|
||||
begin(57600);
|
||||
}
|
||||
|
||||
/* begin method for overriding default serial bitrate */
|
||||
void FirmataClass::begin(long speed)
|
||||
{
|
||||
Serial.begin(speed);
|
||||
FirmataSerial = &Serial;
|
||||
blinkVersion();
|
||||
printVersion();
|
||||
printFirmwareVersion();
|
||||
}
|
||||
|
||||
/* begin method for overriding default stream */
|
||||
void FirmataClass::begin(Stream &s)
|
||||
{
|
||||
FirmataSerial = &s;
|
||||
// do not call blinkVersion() here because some hardware such as the
|
||||
// Ethernet shield use pin 13
|
||||
printVersion();
|
||||
printFirmwareVersion();
|
||||
}
|
||||
|
||||
// output the protocol version message to the serial port
|
||||
void FirmataClass::printVersion(void) {
|
||||
FirmataSerial->write(REPORT_VERSION);
|
||||
FirmataSerial->write(FIRMATA_MAJOR_VERSION);
|
||||
FirmataSerial->write(FIRMATA_MINOR_VERSION);
|
||||
}
|
||||
|
||||
void FirmataClass::blinkVersion(void)
|
||||
{
|
||||
// flash the pin with the protocol version
|
||||
pinMode(VERSION_BLINK_PIN,OUTPUT);
|
||||
strobeBlinkPin(FIRMATA_MAJOR_VERSION, 40, 210);
|
||||
delay(250);
|
||||
strobeBlinkPin(FIRMATA_MINOR_VERSION, 40, 210);
|
||||
delay(125);
|
||||
}
|
||||
|
||||
void FirmataClass::printFirmwareVersion(void)
|
||||
{
|
||||
byte i;
|
||||
|
||||
if(firmwareVersionCount) { // make sure that the name has been set before reporting
|
||||
startSysex();
|
||||
FirmataSerial->write(REPORT_FIRMWARE);
|
||||
FirmataSerial->write(firmwareVersionVector[0]); // major version number
|
||||
FirmataSerial->write(firmwareVersionVector[1]); // minor version number
|
||||
for(i=2; i<firmwareVersionCount; ++i) {
|
||||
sendValueAsTwo7bitBytes(firmwareVersionVector[i]);
|
||||
}
|
||||
endSysex();
|
||||
}
|
||||
}
|
||||
|
||||
void FirmataClass::setFirmwareNameAndVersion(const char *name, byte major, byte minor)
|
||||
{
|
||||
const char *filename;
|
||||
char *extension;
|
||||
|
||||
// parse out ".cpp" and "applet/" that comes from using __FILE__
|
||||
extension = strstr(name, ".cpp");
|
||||
filename = strrchr(name, '/') + 1; //points to slash, +1 gets to start of filename
|
||||
// add two bytes for version numbers
|
||||
if(extension && filename) {
|
||||
firmwareVersionCount = extension - filename + 2;
|
||||
} else {
|
||||
firmwareVersionCount = strlen(name) + 2;
|
||||
filename = name;
|
||||
}
|
||||
|
||||
free(firmwareVersionVector);
|
||||
|
||||
firmwareVersionVector = (byte *) malloc(firmwareVersionCount);
|
||||
firmwareVersionVector[firmwareVersionCount] = 0;
|
||||
firmwareVersionVector[0] = major;
|
||||
firmwareVersionVector[1] = minor;
|
||||
strncpy((char*)firmwareVersionVector + 2, filename, firmwareVersionCount - 2);
|
||||
// alas, no snprintf on Arduino
|
||||
// snprintf(firmwareVersionVector, MAX_DATA_BYTES, "%c%c%s",
|
||||
// (char)major, (char)minor, firmwareVersionVector);
|
||||
}
|
||||
|
||||
// this method is only used for unit testing
|
||||
// void FirmataClass::unsetFirmwareVersion()
|
||||
// {
|
||||
// firmwareVersionCount = 0;
|
||||
// free(firmwareVersionVector);
|
||||
// firmwareVersionVector = 0;
|
||||
// }
|
||||
|
||||
//------------------------------------------------------------------------------
|
||||
// Serial Receive Handling
|
||||
|
||||
int FirmataClass::available(void)
|
||||
{
|
||||
return FirmataSerial->available();
|
||||
}
|
||||
|
||||
|
||||
void FirmataClass::processSysexMessage(void)
|
||||
{
|
||||
switch(storedInputData[0]) { //first byte in buffer is command
|
||||
case REPORT_FIRMWARE:
|
||||
printFirmwareVersion();
|
||||
break;
|
||||
case STRING_DATA:
|
||||
if(currentStringCallback) {
|
||||
byte bufferLength = (sysexBytesRead - 1) / 2;
|
||||
char *buffer = (char*)malloc(bufferLength * sizeof(char));
|
||||
byte i = 1;
|
||||
byte j = 0;
|
||||
while(j < bufferLength) {
|
||||
buffer[j] = (char)storedInputData[i];
|
||||
i++;
|
||||
buffer[j] += (char)(storedInputData[i] << 7);
|
||||
i++;
|
||||
j++;
|
||||
}
|
||||
(*currentStringCallback)(buffer);
|
||||
}
|
||||
break;
|
||||
default:
|
||||
if(currentSysexCallback)
|
||||
(*currentSysexCallback)(storedInputData[0], sysexBytesRead - 1, storedInputData + 1);
|
||||
}
|
||||
}
|
||||
|
||||
void FirmataClass::processInput(void)
|
||||
{
|
||||
int inputData = FirmataSerial->read(); // this is 'int' to handle -1 when no data
|
||||
int command;
|
||||
|
||||
// TODO make sure it handles -1 properly
|
||||
|
||||
if (parsingSysex) {
|
||||
if(inputData == END_SYSEX) {
|
||||
//stop sysex byte
|
||||
parsingSysex = false;
|
||||
//fire off handler function
|
||||
processSysexMessage();
|
||||
} else {
|
||||
//normal data byte - add to buffer
|
||||
storedInputData[sysexBytesRead] = inputData;
|
||||
sysexBytesRead++;
|
||||
}
|
||||
} else if( (waitForData > 0) && (inputData < 128) ) {
|
||||
waitForData--;
|
||||
storedInputData[waitForData] = inputData;
|
||||
if( (waitForData==0) && executeMultiByteCommand ) { // got the whole message
|
||||
switch(executeMultiByteCommand) {
|
||||
case ANALOG_MESSAGE:
|
||||
if(currentAnalogCallback) {
|
||||
(*currentAnalogCallback)(multiByteChannel,
|
||||
(storedInputData[0] << 7)
|
||||
+ storedInputData[1]);
|
||||
}
|
||||
break;
|
||||
case DIGITAL_MESSAGE:
|
||||
if(currentDigitalCallback) {
|
||||
(*currentDigitalCallback)(multiByteChannel,
|
||||
(storedInputData[0] << 7)
|
||||
+ storedInputData[1]);
|
||||
}
|
||||
break;
|
||||
case SET_PIN_MODE:
|
||||
if(currentPinModeCallback)
|
||||
(*currentPinModeCallback)(storedInputData[1], storedInputData[0]);
|
||||
break;
|
||||
case REPORT_ANALOG:
|
||||
if(currentReportAnalogCallback)
|
||||
(*currentReportAnalogCallback)(multiByteChannel,storedInputData[0]);
|
||||
break;
|
||||
case REPORT_DIGITAL:
|
||||
if(currentReportDigitalCallback)
|
||||
(*currentReportDigitalCallback)(multiByteChannel,storedInputData[0]);
|
||||
break;
|
||||
}
|
||||
executeMultiByteCommand = 0;
|
||||
}
|
||||
} else {
|
||||
// remove channel info from command byte if less than 0xF0
|
||||
if(inputData < 0xF0) {
|
||||
command = inputData & 0xF0;
|
||||
multiByteChannel = inputData & 0x0F;
|
||||
} else {
|
||||
command = inputData;
|
||||
// commands in the 0xF* range don't use channel data
|
||||
}
|
||||
switch (command) {
|
||||
case ANALOG_MESSAGE:
|
||||
case DIGITAL_MESSAGE:
|
||||
case SET_PIN_MODE:
|
||||
waitForData = 2; // two data bytes needed
|
||||
executeMultiByteCommand = command;
|
||||
break;
|
||||
case REPORT_ANALOG:
|
||||
case REPORT_DIGITAL:
|
||||
waitForData = 1; // two data bytes needed
|
||||
executeMultiByteCommand = command;
|
||||
break;
|
||||
case START_SYSEX:
|
||||
parsingSysex = true;
|
||||
sysexBytesRead = 0;
|
||||
break;
|
||||
case SYSTEM_RESET:
|
||||
systemReset();
|
||||
break;
|
||||
case REPORT_VERSION:
|
||||
Firmata.printVersion();
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
//------------------------------------------------------------------------------
|
||||
// Serial Send Handling
|
||||
|
||||
// send an analog message
|
||||
void FirmataClass::sendAnalog(byte pin, int value)
|
||||
{
|
||||
// pin can only be 0-15, so chop higher bits
|
||||
FirmataSerial->write(ANALOG_MESSAGE | (pin & 0xF));
|
||||
sendValueAsTwo7bitBytes(value);
|
||||
}
|
||||
|
||||
// send a single digital pin in a digital message
|
||||
void FirmataClass::sendDigital(byte pin, int value)
|
||||
{
|
||||
/* TODO add single pin digital messages to the protocol, this needs to
|
||||
* track the last digital data sent so that it can be sure to change just
|
||||
* one bit in the packet. This is complicated by the fact that the
|
||||
* numbering of the pins will probably differ on Arduino, Wiring, and
|
||||
* other boards. The DIGITAL_MESSAGE sends 14 bits at a time, but it is
|
||||
* probably easier to send 8 bit ports for any board with more than 14
|
||||
* digital pins.
|
||||
*/
|
||||
|
||||
// TODO: the digital message should not be sent on the serial port every
|
||||
// time sendDigital() is called. Instead, it should add it to an int
|
||||
// which will be sent on a schedule. If a pin changes more than once
|
||||
// before the digital message is sent on the serial port, it should send a
|
||||
// digital message for each change.
|
||||
|
||||
// if(value == 0)
|
||||
// sendDigitalPortPair();
|
||||
}
|
||||
|
||||
|
||||
// send 14-bits in a single digital message (protocol v1)
|
||||
// send an 8-bit port in a single digital message (protocol v2)
|
||||
void FirmataClass::sendDigitalPort(byte portNumber, int portData)
|
||||
{
|
||||
FirmataSerial->write(DIGITAL_MESSAGE | (portNumber & 0xF));
|
||||
FirmataSerial->write((byte)portData % 128); // Tx bits 0-6
|
||||
FirmataSerial->write(portData >> 7); // Tx bits 7-13
|
||||
}
|
||||
|
||||
|
||||
void FirmataClass::sendSysex(byte command, byte bytec, byte* bytev)
|
||||
{
|
||||
byte i;
|
||||
startSysex();
|
||||
FirmataSerial->write(command);
|
||||
for(i=0; i<bytec; i++) {
|
||||
sendValueAsTwo7bitBytes(bytev[i]);
|
||||
}
|
||||
endSysex();
|
||||
}
|
||||
|
||||
void FirmataClass::sendString(byte command, const char* string)
|
||||
{
|
||||
sendSysex(command, strlen(string), (byte *)string);
|
||||
}
|
||||
|
||||
|
||||
// send a string as the protocol string type
|
||||
void FirmataClass::sendString(const char* string)
|
||||
{
|
||||
sendString(STRING_DATA, string);
|
||||
}
|
||||
|
||||
// expose the write method
|
||||
void FirmataClass::write(byte c)
|
||||
{
|
||||
FirmataSerial->write(c);
|
||||
}
|
||||
|
||||
|
||||
// Internal Actions/////////////////////////////////////////////////////////////
|
||||
|
||||
// generic callbacks
|
||||
void FirmataClass::attach(byte command, callbackFunction newFunction)
|
||||
{
|
||||
switch(command) {
|
||||
case ANALOG_MESSAGE: currentAnalogCallback = newFunction; break;
|
||||
case DIGITAL_MESSAGE: currentDigitalCallback = newFunction; break;
|
||||
case REPORT_ANALOG: currentReportAnalogCallback = newFunction; break;
|
||||
case REPORT_DIGITAL: currentReportDigitalCallback = newFunction; break;
|
||||
case SET_PIN_MODE: currentPinModeCallback = newFunction; break;
|
||||
}
|
||||
}
|
||||
|
||||
void FirmataClass::attach(byte command, systemResetCallbackFunction newFunction)
|
||||
{
|
||||
switch(command) {
|
||||
case SYSTEM_RESET: currentSystemResetCallback = newFunction; break;
|
||||
}
|
||||
}
|
||||
|
||||
void FirmataClass::attach(byte command, stringCallbackFunction newFunction)
|
||||
{
|
||||
switch(command) {
|
||||
case STRING_DATA: currentStringCallback = newFunction; break;
|
||||
}
|
||||
}
|
||||
|
||||
void FirmataClass::attach(byte command, sysexCallbackFunction newFunction)
|
||||
{
|
||||
currentSysexCallback = newFunction;
|
||||
}
|
||||
|
||||
void FirmataClass::detach(byte command)
|
||||
{
|
||||
switch(command) {
|
||||
case SYSTEM_RESET: currentSystemResetCallback = NULL; break;
|
||||
case STRING_DATA: currentStringCallback = NULL; break;
|
||||
case START_SYSEX: currentSysexCallback = NULL; break;
|
||||
default:
|
||||
attach(command, (callbackFunction)NULL);
|
||||
}
|
||||
}
|
||||
|
||||
// sysex callbacks
|
||||
/*
|
||||
* this is too complicated for analogReceive, but maybe for Sysex?
|
||||
void FirmataClass::attachSysex(sysexFunction newFunction)
|
||||
{
|
||||
byte i;
|
||||
byte tmpCount = analogReceiveFunctionCount;
|
||||
analogReceiveFunction* tmpArray = analogReceiveFunctionArray;
|
||||
analogReceiveFunctionCount++;
|
||||
analogReceiveFunctionArray = (analogReceiveFunction*) calloc(analogReceiveFunctionCount, sizeof(analogReceiveFunction));
|
||||
for(i = 0; i < tmpCount; i++) {
|
||||
analogReceiveFunctionArray[i] = tmpArray[i];
|
||||
}
|
||||
analogReceiveFunctionArray[tmpCount] = newFunction;
|
||||
free(tmpArray);
|
||||
}
|
||||
*/
|
||||
|
||||
//******************************************************************************
|
||||
//* Private Methods
|
||||
//******************************************************************************
|
||||
|
||||
|
||||
|
||||
// resets the system state upon a SYSTEM_RESET message from the host software
|
||||
void FirmataClass::systemReset(void)
|
||||
{
|
||||
byte i;
|
||||
|
||||
waitForData = 0; // this flag says the next serial input will be data
|
||||
executeMultiByteCommand = 0; // execute this after getting multi-byte data
|
||||
multiByteChannel = 0; // channel data for multiByteCommands
|
||||
|
||||
for(i=0; i<MAX_DATA_BYTES; i++) {
|
||||
storedInputData[i] = 0;
|
||||
}
|
||||
|
||||
parsingSysex = false;
|
||||
sysexBytesRead = 0;
|
||||
|
||||
if(currentSystemResetCallback)
|
||||
(*currentSystemResetCallback)();
|
||||
|
||||
//flush(); //TODO uncomment when Firmata is a subclass of HardwareSerial
|
||||
}
|
||||
|
||||
|
||||
|
||||
// =============================================================================
|
||||
// used for flashing the pin for the version number
|
||||
void FirmataClass::strobeBlinkPin(int count, int onInterval, int offInterval)
|
||||
{
|
||||
byte i;
|
||||
pinMode(VERSION_BLINK_PIN, OUTPUT);
|
||||
for(i=0; i<count; i++) {
|
||||
delay(offInterval);
|
||||
digitalWrite(VERSION_BLINK_PIN, HIGH);
|
||||
delay(onInterval);
|
||||
digitalWrite(VERSION_BLINK_PIN, LOW);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
// make one instance for the user to use
|
||||
FirmataClass Firmata;
|
||||
|
||||
|
||||
@ -1,165 +0,0 @@
|
||||
/*
|
||||
Firmata.h - Firmata library
|
||||
Copyright (c) 2006-2008 Hans-Christoph Steiner. 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
|
||||
License as published by the Free Software Foundation; either
|
||||
version 2.1 of the License, or (at your option) any later version.
|
||||
|
||||
See file LICENSE.txt for further informations on licensing terms.
|
||||
*/
|
||||
|
||||
#ifndef Firmata_h
|
||||
#define Firmata_h
|
||||
|
||||
#include "Boards.h" /* Hardware Abstraction Layer + Wiring/Arduino */
|
||||
|
||||
/* Version numbers for the protocol. The protocol is still changing, so these
|
||||
* version numbers are important. This number can be queried so that host
|
||||
* software can test whether it will be compatible with the currently
|
||||
* installed firmware. */
|
||||
#define FIRMATA_MAJOR_VERSION 2 // for non-compatible changes
|
||||
#define FIRMATA_MINOR_VERSION 3 // for backwards compatible changes
|
||||
#define FIRMATA_BUGFIX_VERSION 6 // for bugfix releases
|
||||
|
||||
#define MAX_DATA_BYTES 32 // max number of data bytes in non-Sysex messages
|
||||
|
||||
// message command bytes (128-255/0x80-0xFF)
|
||||
#define DIGITAL_MESSAGE 0x90 // send data for a digital pin
|
||||
#define ANALOG_MESSAGE 0xE0 // send data for an analog pin (or PWM)
|
||||
#define REPORT_ANALOG 0xC0 // enable analog input by pin #
|
||||
#define REPORT_DIGITAL 0xD0 // enable digital input by port pair
|
||||
//
|
||||
#define SET_PIN_MODE 0xF4 // set a pin to INPUT/OUTPUT/PWM/etc
|
||||
//
|
||||
#define REPORT_VERSION 0xF9 // report protocol version
|
||||
#define SYSTEM_RESET 0xFF // reset from MIDI
|
||||
//
|
||||
#define START_SYSEX 0xF0 // start a MIDI Sysex message
|
||||
#define END_SYSEX 0xF7 // end a MIDI Sysex message
|
||||
|
||||
// extended command set using sysex (0-127/0x00-0x7F)
|
||||
/* 0x00-0x0F reserved for user-defined commands */
|
||||
#define SERVO_CONFIG 0x70 // set max angle, minPulse, maxPulse, freq
|
||||
#define STRING_DATA 0x71 // a string message with 14-bits per char
|
||||
#define SHIFT_DATA 0x75 // a bitstream to/from a shift register
|
||||
#define I2C_REQUEST 0x76 // send an I2C read/write request
|
||||
#define I2C_REPLY 0x77 // a reply to an I2C read request
|
||||
#define I2C_CONFIG 0x78 // config I2C settings such as delay times and power pins
|
||||
#define EXTENDED_ANALOG 0x6F // analog write (PWM, Servo, etc) to any pin
|
||||
#define PIN_STATE_QUERY 0x6D // ask for a pin's current mode and value
|
||||
#define PIN_STATE_RESPONSE 0x6E // reply with pin's current mode and value
|
||||
#define CAPABILITY_QUERY 0x6B // ask for supported modes and resolution of all pins
|
||||
#define CAPABILITY_RESPONSE 0x6C // reply with supported modes and resolution
|
||||
#define ANALOG_MAPPING_QUERY 0x69 // ask for mapping of analog to pin numbers
|
||||
#define ANALOG_MAPPING_RESPONSE 0x6A // reply with mapping info
|
||||
#define REPORT_FIRMWARE 0x79 // report name and version of the firmware
|
||||
#define SAMPLING_INTERVAL 0x7A // set the poll rate of the main loop
|
||||
#define SYSEX_NON_REALTIME 0x7E // MIDI Reserved for non-realtime messages
|
||||
#define SYSEX_REALTIME 0x7F // MIDI Reserved for realtime messages
|
||||
// these are DEPRECATED to make the naming more consistent
|
||||
#define FIRMATA_STRING 0x71 // same as STRING_DATA
|
||||
#define SYSEX_I2C_REQUEST 0x76 // same as I2C_REQUEST
|
||||
#define SYSEX_I2C_REPLY 0x77 // same as I2C_REPLY
|
||||
#define SYSEX_SAMPLING_INTERVAL 0x7A // same as SAMPLING_INTERVAL
|
||||
|
||||
// pin modes
|
||||
//#define INPUT 0x00 // defined in wiring.h
|
||||
//#define OUTPUT 0x01 // defined in wiring.h
|
||||
#define ANALOG 0x02 // analog pin in analogInput mode
|
||||
#define PWM 0x03 // digital pin in PWM output mode
|
||||
#define SERVO 0x04 // digital pin in Servo output mode
|
||||
#define SHIFT 0x05 // shiftIn/shiftOut mode
|
||||
#define I2C 0x06 // pin included in I2C setup
|
||||
#define TOTAL_PIN_MODES 7
|
||||
|
||||
extern "C" {
|
||||
// callback function types
|
||||
typedef void (*callbackFunction)(byte, int);
|
||||
typedef void (*systemResetCallbackFunction)(void);
|
||||
typedef void (*stringCallbackFunction)(char*);
|
||||
typedef void (*sysexCallbackFunction)(byte command, byte argc, byte*argv);
|
||||
}
|
||||
|
||||
|
||||
// TODO make it a subclass of a generic Serial/Stream base class
|
||||
class FirmataClass
|
||||
{
|
||||
public:
|
||||
FirmataClass();
|
||||
/* Arduino constructors */
|
||||
void begin();
|
||||
void begin(long);
|
||||
void begin(Stream &s);
|
||||
/* querying functions */
|
||||
void printVersion(void);
|
||||
void blinkVersion(void);
|
||||
void printFirmwareVersion(void);
|
||||
//void setFirmwareVersion(byte major, byte minor); // see macro below
|
||||
void setFirmwareNameAndVersion(const char *name, byte major, byte minor);
|
||||
//void unsetFirmwareVersion(); // only used for unit test
|
||||
/* serial receive handling */
|
||||
int available(void);
|
||||
void processInput(void);
|
||||
/* serial send handling */
|
||||
void sendAnalog(byte pin, int value);
|
||||
void sendDigital(byte pin, int value); // TODO implement this
|
||||
void sendDigitalPort(byte portNumber, int portData);
|
||||
void sendString(const char* string);
|
||||
void sendString(byte command, const char* string);
|
||||
void sendSysex(byte command, byte bytec, byte* bytev);
|
||||
void write(byte c);
|
||||
/* attach & detach callback functions to messages */
|
||||
void attach(byte command, callbackFunction newFunction);
|
||||
void attach(byte command, systemResetCallbackFunction newFunction);
|
||||
void attach(byte command, stringCallbackFunction newFunction);
|
||||
void attach(byte command, sysexCallbackFunction newFunction);
|
||||
void detach(byte command);
|
||||
|
||||
private:
|
||||
Stream *FirmataSerial;
|
||||
/* firmware name and version */
|
||||
byte firmwareVersionCount;
|
||||
byte *firmwareVersionVector;
|
||||
/* input message handling */
|
||||
byte waitForData; // this flag says the next serial input will be data
|
||||
byte executeMultiByteCommand; // execute this after getting multi-byte data
|
||||
byte multiByteChannel; // channel data for multiByteCommands
|
||||
byte storedInputData[MAX_DATA_BYTES]; // multi-byte data
|
||||
/* sysex */
|
||||
boolean parsingSysex;
|
||||
int sysexBytesRead;
|
||||
/* callback functions */
|
||||
callbackFunction currentAnalogCallback;
|
||||
callbackFunction currentDigitalCallback;
|
||||
callbackFunction currentReportAnalogCallback;
|
||||
callbackFunction currentReportDigitalCallback;
|
||||
callbackFunction currentPinModeCallback;
|
||||
systemResetCallbackFunction currentSystemResetCallback;
|
||||
stringCallbackFunction currentStringCallback;
|
||||
sysexCallbackFunction currentSysexCallback;
|
||||
|
||||
/* private methods ------------------------------ */
|
||||
void processSysexMessage(void);
|
||||
void systemReset(void);
|
||||
void strobeBlinkPin(int count, int onInterval, int offInterval);
|
||||
void sendValueAsTwo7bitBytes(int value);
|
||||
void startSysex(void);
|
||||
void endSysex(void);
|
||||
};
|
||||
|
||||
extern FirmataClass Firmata;
|
||||
|
||||
/*==============================================================================
|
||||
* MACROS
|
||||
*============================================================================*/
|
||||
|
||||
/* shortcut for setFirmwareNameAndVersion() that uses __FILE__ to set the
|
||||
* firmware name. It needs to be a macro so that __FILE__ is included in the
|
||||
* firmware source file rather than the library source file.
|
||||
*/
|
||||
#define setFirmwareVersion(x, y) setFirmwareNameAndVersion(__FILE__, x, y)
|
||||
|
||||
#endif /* Firmata_h */
|
||||
|
||||
@ -3,7 +3,7 @@
|
||||
With the Arduino GSM Shield, this library enables an Arduino board to do most of the operations you can do with a GSM phone: place and receive voice calls, send and receive SMS, and connect to the internet over a GPRS network.
|
||||
|
||||
For more information about this library please visit us at
|
||||
http://arduino.cc/en/Reference/GSM
|
||||
http://www.arduino.cc/en/Reference/GSM
|
||||
|
||||
== License ==
|
||||
Copyright (c) 2012 Telefónica Digital - PDI - Physical Internet Lab
|
||||
|
||||
@ -2,7 +2,7 @@
|
||||
Web client
|
||||
|
||||
This sketch connects to a website through a GSM shield. Specifically,
|
||||
this example downloads the URL "http://arduino.cc/asciilogo.txt" and
|
||||
this example downloads the URL "http://www.arduino.cc/asciilogo.txt" and
|
||||
prints it to the Serial monitor.
|
||||
|
||||
Circuit:
|
||||
@ -12,7 +12,7 @@
|
||||
created 8 Mar 2012
|
||||
by Tom Igoe
|
||||
|
||||
http://arduino.cc/en/Tutorial/GSMExamplesWebClient
|
||||
http://www.arduino.cc/en/Tutorial/GSMExamplesWebClient
|
||||
|
||||
*/
|
||||
|
||||
|
||||
@ -13,7 +13,7 @@
|
||||
|
||||
This example is in the public domain.
|
||||
|
||||
http://arduino.cc/en/Tutorial/GSMExamplesReceiveSMS
|
||||
http://www.arduino.cc/en/Tutorial/GSMExamplesReceiveSMS
|
||||
|
||||
*/
|
||||
|
||||
|
||||
@ -7,7 +7,7 @@
|
||||
Circuit:
|
||||
* GSM shield
|
||||
* Voice circuit. Refer to to the GSM shield getting started guide
|
||||
at http://arduino.cc/en/Guide/ArduinoGSMShield#toc11
|
||||
at http://www.arduino.cc/en/Guide/ArduinoGSMShield#toc11
|
||||
* SIM card that can accept voice calls
|
||||
|
||||
With no voice circuit the call will connect, but will not send or receive sound
|
||||
@ -17,7 +17,7 @@
|
||||
|
||||
This example is in the public domain.
|
||||
|
||||
http://arduino.cc/en/Tutorial/GSMExamplesReceiveVoiceCall
|
||||
http://www.arduino.cc/en/Tutorial/GSMExamplesReceiveVoiceCall
|
||||
|
||||
*/
|
||||
|
||||
|
||||
@ -17,7 +17,7 @@
|
||||
|
||||
This example is in the public domain.
|
||||
|
||||
http://arduino.cc/en/Tutorial/GSMExamplesSendSMS
|
||||
http://www.arduino.cc/en/Tutorial/GSMExamplesSendSMS
|
||||
|
||||
*/
|
||||
|
||||
|
||||
@ -16,7 +16,7 @@
|
||||
Modified 4 Feb 2013
|
||||
by Scott Fitzgerald
|
||||
|
||||
http://arduino.cc/en/Tutorial/GSMToolsGsmScanNetworks
|
||||
http://www.arduino.cc/en/Tutorial/GSMToolsGsmScanNetworks
|
||||
|
||||
This example code is part of the public domain
|
||||
*/
|
||||
|
||||
@ -12,7 +12,7 @@
|
||||
|
||||
This example code is part of the public domain
|
||||
|
||||
http://arduino.cc/en/Tutorial/GSMToolsPinManagement
|
||||
http://www.arduino.cc/en/Tutorial/GSMToolsPinManagement
|
||||
|
||||
*/
|
||||
|
||||
|
||||
@ -13,7 +13,7 @@
|
||||
|
||||
This example code is part of the public domain
|
||||
|
||||
http://arduino.cc/en/Tutorial/GSMToolsTestGPRS
|
||||
http://www.arduino.cc/en/Tutorial/GSMToolsTestGPRS
|
||||
|
||||
*/
|
||||
|
||||
@ -34,7 +34,7 @@ String errortext = "ERROR";
|
||||
|
||||
// URL and path (for example: arduino.cc)
|
||||
char url[] = "arduino.cc";
|
||||
char urlproxy[] = "http://arduino.cc";
|
||||
char urlproxy[] = "http://www.arduino.cc";
|
||||
char path[] = "/";
|
||||
|
||||
// variable for save response obtained
|
||||
|
||||
@ -12,7 +12,7 @@
|
||||
modified 21 Nov 2012
|
||||
by Tom Igoe
|
||||
|
||||
http://arduino.cc/en/Tutorial/GSMToolsTestModem
|
||||
http://www.arduino.cc/en/Tutorial/GSMToolsTestModem
|
||||
|
||||
This sample code is part of the public domain
|
||||
|
||||
|
||||
@ -12,7 +12,7 @@
|
||||
modified 21 Nov 2012
|
||||
by Tom Igoe
|
||||
|
||||
http://arduino.cc/en/Tutorial/GSMToolsTestWebServer
|
||||
http://www.arduino.cc/en/Tutorial/GSMToolsTestWebServer
|
||||
|
||||
This example code is part of the public domain
|
||||
*/
|
||||
|
||||
@ -1,9 +1,9 @@
|
||||
name=GSM
|
||||
version=1.0.3
|
||||
version=1.0.4
|
||||
author=Arduino
|
||||
maintainer=Arduino <info@arduino.cc>
|
||||
sentence=Enables GSM/GRPS network connection using the Arduino GSM Shield. For all Arduino boards BUT Arduino DUE.
|
||||
paragraph=Use this library to make/receive voice calls, to send and receive SMS with the Quectel M10 GSM module.</br>This library also allows you to connect to internet through the GPRS networks. You can either use web Clients and Servers.</br>
|
||||
category=Communication
|
||||
url=http://arduino.cc/en/Reference/GSM
|
||||
url=http://www.arduino.cc/en/Reference/GSM
|
||||
architectures=avr
|
||||
|
||||
@ -3,7 +3,7 @@
|
||||
This library allows an Arduino board to control LiquidCrystal displays (LCDs) based on the Hitachi HD44780 (or a compatible) chipset, which is found on most text-based LCDs.
|
||||
|
||||
For more information about this library please visit us at
|
||||
http://arduino.cc/en/Reference/LiquidCrystal
|
||||
http://www.arduino.cc/en/Reference/LiquidCrystal
|
||||
|
||||
== License ==
|
||||
|
||||
|
||||
@ -32,7 +32,7 @@
|
||||
|
||||
This example code is in the public domain.
|
||||
|
||||
http://arduino.cc/en/Tutorial/LiquidCrystalAutoscroll
|
||||
http://www.arduino.cc/en/Tutorial/LiquidCrystalAutoscroll
|
||||
|
||||
*/
|
||||
|
||||
|
||||
@ -32,7 +32,7 @@
|
||||
|
||||
This example code is in the public domain.
|
||||
|
||||
http://arduino.cc/en/Tutorial/LiquidCrystalBlink
|
||||
http://www.arduino.cc/en/Tutorial/LiquidCrystalBlink
|
||||
|
||||
*/
|
||||
|
||||
|
||||
@ -33,7 +33,7 @@
|
||||
|
||||
This example code is in the public domain.
|
||||
|
||||
http://arduino.cc/en/Tutorial/LiquidCrystalCursor
|
||||
http://www.arduino.cc/en/Tutorial/LiquidCrystalCursor
|
||||
|
||||
*/
|
||||
|
||||
|
||||
@ -33,7 +33,7 @@
|
||||
|
||||
This example code is in the public domain.
|
||||
|
||||
http://arduino.cc/en/Tutorial/LiquidCrystalDisplay
|
||||
http://www.arduino.cc/en/Tutorial/LiquidCrystalDisplay
|
||||
|
||||
*/
|
||||
|
||||
|
||||
@ -33,7 +33,7 @@
|
||||
|
||||
This example code is in the public domain.
|
||||
|
||||
http://arduino.cc/en/Tutorial/LiquidCrystalScroll
|
||||
http://www.arduino.cc/en/Tutorial/LiquidCrystalScroll
|
||||
|
||||
*/
|
||||
|
||||
|
||||
@ -32,7 +32,7 @@
|
||||
|
||||
This example code is in the public domain.
|
||||
|
||||
http://arduino.cc/en/Tutorial/LiquidCrystalSerial
|
||||
http://www.arduino.cc/en/Tutorial/LiquidCrystalSerial
|
||||
*/
|
||||
|
||||
// include the library code:
|
||||
|
||||
@ -32,7 +32,7 @@ by Tom Igoe
|
||||
|
||||
This example code is in the public domain.
|
||||
|
||||
http://arduino.cc/en/Tutorial/LiquidCrystalTextDirection
|
||||
http://www.arduino.cc/en/Tutorial/LiquidCrystalTextDirection
|
||||
|
||||
*/
|
||||
|
||||
|
||||
@ -32,7 +32,7 @@
|
||||
|
||||
This example code is in the public domain.
|
||||
|
||||
http://arduino.cc/en/Tutorial/LiquidCrystalSetCursor
|
||||
http://www.arduino.cc/en/Tutorial/LiquidCrystalSetCursor
|
||||
|
||||
*/
|
||||
|
||||
|
||||
@ -1,9 +1,9 @@
|
||||
name=LiquidCrystal
|
||||
version=1.0.1
|
||||
version=1.0.2
|
||||
author=Arduino, Adafruit
|
||||
maintainer=Arduino <info@arduino.cc>
|
||||
sentence=Allows communication with alphanumerical liquid crystal displays (LCDs). For all Arduino boards.
|
||||
paragraph=This library allows an Arduino board to control LiquidCrystal displays (LCDs) based on the Hitachi HD44780 (or a compatible) chipset, which is found on most text-based LCDs. The library works with in either 4 or 8 bit mode (i.e. using 4 or 8 data lines in addition to the rs, enable, and, optionally, the rw control lines).
|
||||
category=Display
|
||||
url=http://arduino.cc/en/Reference/LiquidCrystal
|
||||
url=http://www.arduino.cc/en/Reference/LiquidCrystal
|
||||
architectures=*
|
||||
|
||||
@ -3,7 +3,7 @@
|
||||
The Robot has a number of built in sensors and actuators. The library is designed to easily access the robot's functionality.
|
||||
|
||||
For more information about this library please visit us at
|
||||
http://arduino.cc/en/Reference/RobotLibrary
|
||||
http://www.arduino.cc/en/Reference/RobotLibrary
|
||||
|
||||
== License ==
|
||||
|
||||
|
||||
@ -1,5 +1,5 @@
|
||||
name=Robot IR Remote
|
||||
version=1.0.1
|
||||
version=1.0.2
|
||||
author=Arduino
|
||||
maintainer=Arduino <info@arduino.cc>
|
||||
sentence=Allows controlling the Arduino Robot via an IR remote control. For Arduino Robot only.
|
||||
|
||||
@ -3,7 +3,7 @@
|
||||
The Robot has a number of built in sensors and actuators. The library is designed to easily access the robot's functionality.
|
||||
|
||||
For more information about this library please visit us at
|
||||
http://arduino.cc/en/Reference/RobotLibrary
|
||||
http://www.arduino.cc/en/Reference/RobotLibrary
|
||||
|
||||
== License ==
|
||||
|
||||
|
||||
@ -1,9 +1,9 @@
|
||||
name=Robot Control
|
||||
version=1.0.1
|
||||
version=1.0.2
|
||||
author=Arduino
|
||||
maintainer=Arduino <info@arduino.cc>
|
||||
sentence=Enables easy access to the controls of the Arduino Robot Control board. For Arduino Robot only.
|
||||
paragraph=The Arduino robot is made by two independent boards. The Control Board is the top board of the Arduino Robot, with this library you can easily write sketches to control the robot.
|
||||
category=Device Control
|
||||
url=http://arduino.cc/en/Reference/RobotLibrary
|
||||
url=http://www.arduino.cc/en/Reference/RobotLibrary
|
||||
architectures=avr
|
||||
|
||||
@ -3,7 +3,7 @@
|
||||
The Robot has a number of built in sensors and actuators. The library is designed to easily access the robot's functionality.
|
||||
|
||||
For more information about this library please visit us at
|
||||
http://arduino.cc/en/Reference/RobotLibrary
|
||||
http://www.arduino.cc/en/Reference/RobotLibrary
|
||||
|
||||
== License ==
|
||||
|
||||
|
||||
@ -1,9 +1,9 @@
|
||||
name=Robot Motor
|
||||
version=1.0.1
|
||||
version=1.0.2
|
||||
author=Arduino
|
||||
maintainer=Arduino <info@arduino.cc>
|
||||
sentence=Enables easy access to the motors of the Arduino Robot Motor board. For Arduino Robot only.
|
||||
paragraph=
|
||||
category=Device Control
|
||||
url=http://arduino.cc/en/Reference/RobotLibrary
|
||||
url=http://www.arduino.cc/en/Reference/RobotLibrary
|
||||
architectures=avr
|
||||
|
||||
@ -3,7 +3,7 @@
|
||||
The SD library allows for reading from and writing to SD cards.
|
||||
|
||||
For more information about this library please visit us at
|
||||
http://arduino.cc/en/Reference/SD
|
||||
http://www.arduino.cc/en/Reference/SD
|
||||
|
||||
== License ==
|
||||
|
||||
|
||||
@ -1,9 +1,9 @@
|
||||
name=SD
|
||||
version=1.0.4
|
||||
version=1.0.5
|
||||
author=Arduino, SparkFun
|
||||
maintainer=Arduino <info@arduino.cc>
|
||||
sentence=Enables reading and writing on SD cards. For all Arduino boards.
|
||||
paragraph=Once an SD memory card is connected to the SPI interfare of the Arduino board you are enabled to create files and read/write on them. You can also move through directories on the SD card.
|
||||
category=Data Storage
|
||||
url=http://arduino.cc/en/Reference/SD
|
||||
url=http://www.arduino.cc/en/Reference/SD
|
||||
architectures=*
|
||||
|
||||
@ -93,18 +93,23 @@ public:
|
||||
// write, etc). Returns a File object for interacting with the file.
|
||||
// Note that currently only one file can be open at a time.
|
||||
File open(const char *filename, uint8_t mode = FILE_READ);
|
||||
File open(const String &filename, uint8_t mode = FILE_READ) { return open( filename.c_str(), mode ); }
|
||||
|
||||
// Methods to determine if the requested file path exists.
|
||||
boolean exists(char *filepath);
|
||||
boolean exists(const String &filepath) { return exists(filepath.c_str()); }
|
||||
|
||||
// Create the requested directory heirarchy--if intermediate directories
|
||||
// do not exist they will be created.
|
||||
boolean mkdir(char *filepath);
|
||||
boolean mkdir(const String &filepath) { return mkdir(filepath.c_str()); }
|
||||
|
||||
// Delete the file.
|
||||
boolean remove(char *filepath);
|
||||
boolean remove(const String &filepath) { return remove(filepath.c_str()); }
|
||||
|
||||
boolean rmdir(char *filepath);
|
||||
boolean rmdir(const String &filepath) { return rmdir(filepath.c_str()); }
|
||||
|
||||
uint8_t type(){ return card.type(); }
|
||||
uint8_t fatType(){ return volume.fatType(); }
|
||||
|
||||
@ -3,7 +3,7 @@
|
||||
The Scheduler library enables the Arduino Due to run multiple functions at the same time. This allows tasks to happen without interrupting each other.
|
||||
|
||||
For more information about this library please visit us at
|
||||
http://arduino.cc/en/Reference/Scheduler
|
||||
http://www.arduino.cc/en/Reference/Scheduler
|
||||
|
||||
== License ==
|
||||
|
||||
|
||||
@ -13,7 +13,7 @@
|
||||
|
||||
This example code is in the public domain
|
||||
|
||||
http://arduino.cc/en/Tutorial/MultipleBlinks
|
||||
http://www.arduino.cc/en/Tutorial/MultipleBlinks
|
||||
*/
|
||||
|
||||
// Include Scheduler since we want to manage multiple tasks.
|
||||
|
||||
@ -1,9 +1,9 @@
|
||||
name=Scheduler
|
||||
version=0.4.2
|
||||
version=0.4.3
|
||||
author=Arduino
|
||||
maintainer=Arduino <info@arduino.cc>
|
||||
sentence=Allows multiple tasks to run at the same time, without interrupting each other. For Arduino DUE only.
|
||||
paragraph=The Scheduler library enables the Arduino Due to run multiple functions at the same time. This allows tasks to happen without interrupting each other.</br>This is a cooperative scheduler in that the CPU switches from one task to another. The library includes methods for passing control between tasks.
|
||||
category=Other
|
||||
url=http://arduino.cc/en/Reference/Scheduler
|
||||
url=http://www.arduino.cc/en/Reference/Scheduler
|
||||
architectures=sam
|
||||
|
||||
@ -3,7 +3,7 @@
|
||||
This library allows an Arduino board to control RC (hobby) servo motors.
|
||||
|
||||
For more information about this library please visit us at
|
||||
http://arduino.cc/en/Reference/Servo
|
||||
http://www.arduino.cc/en/Reference/Servo
|
||||
|
||||
== License ==
|
||||
|
||||
|
||||
@ -4,7 +4,7 @@
|
||||
|
||||
modified on 8 Nov 2013
|
||||
by Scott Fitzgerald
|
||||
http://arduino.cc/en/Tutorial/Knob
|
||||
http://www.arduino.cc/en/Tutorial/Knob
|
||||
*/
|
||||
|
||||
#include <Servo.h>
|
||||
|
||||
@ -4,7 +4,7 @@
|
||||
|
||||
modified 8 Nov 2013
|
||||
by Scott Fitzgerald
|
||||
http://arduino.cc/en/Tutorial/Sweep
|
||||
http://www.arduino.cc/en/Tutorial/Sweep
|
||||
*/
|
||||
|
||||
#include <Servo.h>
|
||||
|
||||
@ -1,9 +1,9 @@
|
||||
name=Servo
|
||||
version=1.0.2
|
||||
version=1.0.3
|
||||
author=Michael Margolis, Arduino
|
||||
maintainer=Arduino <info@arduino.cc>
|
||||
sentence=Allows Arduino boards to control a variety of servo motors. For all Arduino boards.
|
||||
paragraph=This library can control a great number of servos.<br />It makes careful use of timers: the library can control 12 servos using only 1 timer.<br />On the Arduino Due you can control up to 60 servos.<br />
|
||||
category=Device Control
|
||||
url=http://arduino.cc/en/Reference/Servo
|
||||
url=http://www.arduino.cc/en/Reference/Servo
|
||||
architectures=avr,sam
|
||||
|
||||
@ -3,7 +3,7 @@
|
||||
This library allows you to control unipolar or bipolar stepper motors. To use it you will need a stepper motor, and the appropriate hardware to control it.
|
||||
|
||||
For more information about this library please visit us at
|
||||
http://arduino.cc/en/Reference/Stepper
|
||||
http://www.arduino.cc/en/Reference/Stepper
|
||||
|
||||
== License ==
|
||||
|
||||
|
||||
@ -1,9 +1,9 @@
|
||||
name=Stepper
|
||||
version=1.0.2
|
||||
version=1.1.1
|
||||
author=Arduino
|
||||
maintainer=Arduino <info@arduino.cc>
|
||||
sentence=Allows Arduino boards to control a variety of stepper motors. For all Arduino boards.
|
||||
paragraph=This library allows you to control unipolar or bipolar stepper motors. To use it you will need a stepper motor, and the appropriate hardware to control it.
|
||||
category=Device Control
|
||||
url=http://arduino.cc/en/Reference/Stepper
|
||||
url=http://www.arduino.cc/en/Reference/Stepper
|
||||
architectures=*
|
||||
|
||||
@ -1,63 +1,80 @@
|
||||
/*
|
||||
Stepper.cpp - - Stepper library for Wiring/Arduino - Version 0.4
|
||||
|
||||
Original library (0.1) by Tom Igoe.
|
||||
Two-wire modifications (0.2) by Sebastian Gassner
|
||||
Combination version (0.3) by Tom Igoe and David Mellis
|
||||
Bug fix for four-wire (0.4) by Tom Igoe, bug fix from Noah Shibley
|
||||
|
||||
Drives a unipolar or bipolar stepper motor using 2 wires or 4 wires
|
||||
|
||||
When wiring multiple stepper motors to a microcontroller,
|
||||
you quickly run out of output pins, with each motor requiring 4 connections.
|
||||
|
||||
By making use of the fact that at any time two of the four motor
|
||||
coils are the inverse of the other two, the number of
|
||||
control connections can be reduced from 4 to 2.
|
||||
|
||||
A slightly modified circuit around a Darlington transistor array or an L293 H-bridge
|
||||
connects to only 2 microcontroler pins, inverts the signals received,
|
||||
and delivers the 4 (2 plus 2 inverted ones) output signals required
|
||||
for driving a stepper motor.
|
||||
|
||||
The sequence of control signals for 4 control wires is as follows:
|
||||
|
||||
Step C0 C1 C2 C3
|
||||
1 1 0 1 0
|
||||
2 0 1 1 0
|
||||
3 0 1 0 1
|
||||
4 1 0 0 1
|
||||
|
||||
The sequence of controls signals for 2 control wires is as follows
|
||||
(columns C1 and C2 from above):
|
||||
|
||||
Step C0 C1
|
||||
1 0 1
|
||||
2 1 1
|
||||
3 1 0
|
||||
4 0 0
|
||||
|
||||
The circuits can be found at
|
||||
|
||||
http://www.arduino.cc/en/Tutorial/Stepper
|
||||
|
||||
This library is free software; you can redistribute it and/or
|
||||
modify it under the terms of the GNU Lesser General Public
|
||||
License as published by the Free Software Foundation; either
|
||||
version 2.1 of the License, or (at your option) any later version.
|
||||
|
||||
This library is distributed in the hope that it will be useful,
|
||||
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
|
||||
Lesser General Public License for more details.
|
||||
|
||||
You should have received a copy of the GNU Lesser General Public
|
||||
License along with this library; if not, write to the Free Software
|
||||
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
|
||||
|
||||
* Stepper.cpp - Stepper library for Wiring/Arduino - Version 1.1.0
|
||||
*
|
||||
* Original library (0.1) by Tom Igoe.
|
||||
* Two-wire modifications (0.2) by Sebastian Gassner
|
||||
* Combination version (0.3) by Tom Igoe and David Mellis
|
||||
* Bug fix for four-wire (0.4) by Tom Igoe, bug fix from Noah Shibley
|
||||
* High-speed stepping mod by Eugene Kozlenko
|
||||
* Timer rollover fix by Eugene Kozlenko
|
||||
* Five phase five wire (1.1.0) by Ryan Orendorff
|
||||
*
|
||||
* This library is free software; you can redistribute it and/or
|
||||
* modify it under the terms of the GNU Lesser General Public
|
||||
* License as published by the Free Software Foundation; either
|
||||
* version 2.1 of the License, or (at your option) any later version.
|
||||
*
|
||||
* This library is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
|
||||
* Lesser General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU Lesser General Public
|
||||
* License along with this library; if not, write to the Free Software
|
||||
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
|
||||
*
|
||||
*
|
||||
* Drives a unipolar, bipolar, or five phase stepper motor.
|
||||
*
|
||||
* When wiring multiple stepper motors to a microcontroller, you quickly run
|
||||
* out of output pins, with each motor requiring 4 connections.
|
||||
*
|
||||
* By making use of the fact that at any time two of the four motor coils are
|
||||
* the inverse of the other two, the number of control connections can be
|
||||
* reduced from 4 to 2 for the unipolar and bipolar motors.
|
||||
*
|
||||
* A slightly modified circuit around a Darlington transistor array or an
|
||||
* L293 H-bridge connects to only 2 microcontroler pins, inverts the signals
|
||||
* received, and delivers the 4 (2 plus 2 inverted ones) output signals
|
||||
* required for driving a stepper motor. Similarly the Arduino motor shields
|
||||
* 2 direction pins may be used.
|
||||
*
|
||||
* The sequence of control signals for 5 phase, 5 control wires is as follows:
|
||||
*
|
||||
* Step C0 C1 C2 C3 C4
|
||||
* 1 0 1 1 0 1
|
||||
* 2 0 1 0 0 1
|
||||
* 3 0 1 0 1 1
|
||||
* 4 0 1 0 1 0
|
||||
* 5 1 1 0 1 0
|
||||
* 6 1 0 0 1 0
|
||||
* 7 1 0 1 1 0
|
||||
* 8 1 0 1 0 0
|
||||
* 9 1 0 1 0 1
|
||||
* 10 0 0 1 0 1
|
||||
*
|
||||
* The sequence of control signals for 4 control wires is as follows:
|
||||
*
|
||||
* Step C0 C1 C2 C3
|
||||
* 1 1 0 1 0
|
||||
* 2 0 1 1 0
|
||||
* 3 0 1 0 1
|
||||
* 4 1 0 0 1
|
||||
*
|
||||
* The sequence of controls signals for 2 control wires is as follows
|
||||
* (columns C1 and C2 from above):
|
||||
*
|
||||
* Step C0 C1
|
||||
* 1 0 1
|
||||
* 2 1 1
|
||||
* 3 1 0
|
||||
* 4 0 0
|
||||
*
|
||||
* The circuits can be found at
|
||||
*
|
||||
* http://www.arduino.cc/en/Tutorial/Stepper
|
||||
*/
|
||||
|
||||
|
||||
#include "Arduino.h"
|
||||
#include "Stepper.h"
|
||||
|
||||
@ -67,12 +84,12 @@ Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
|
||||
*/
|
||||
Stepper::Stepper(int number_of_steps, int motor_pin_1, int motor_pin_2)
|
||||
{
|
||||
this->step_number = 0; // which step the motor is on
|
||||
this->speed = 0; // the motor speed, in revolutions per minute
|
||||
this->step_number = 0; // which step the motor is on
|
||||
this->speed = 0; // the motor speed, in revolutions per minute
|
||||
this->direction = 0; // motor direction
|
||||
this->last_step_time = 0; // time stamp in ms of the last step taken
|
||||
this->number_of_steps = number_of_steps; // total number of steps for this motor
|
||||
|
||||
this->last_step_time = 0; // time stamp in us of the last step taken
|
||||
this->number_of_steps = number_of_steps; // total number of steps for this motor
|
||||
|
||||
// Arduino pins for the motor control connection:
|
||||
this->motor_pin_1 = motor_pin_1;
|
||||
this->motor_pin_2 = motor_pin_2;
|
||||
@ -80,11 +97,12 @@ Stepper::Stepper(int number_of_steps, int motor_pin_1, int motor_pin_2)
|
||||
// setup the pins on the microcontroller:
|
||||
pinMode(this->motor_pin_1, OUTPUT);
|
||||
pinMode(this->motor_pin_2, OUTPUT);
|
||||
|
||||
// When there are only 2 pins, set the other two to 0:
|
||||
|
||||
// When there are only 2 pins, set the others to 0:
|
||||
this->motor_pin_3 = 0;
|
||||
this->motor_pin_4 = 0;
|
||||
|
||||
this->motor_pin_5 = 0;
|
||||
|
||||
// pin_count is used by the stepMotor() method:
|
||||
this->pin_count = 2;
|
||||
}
|
||||
@ -94,15 +112,15 @@ Stepper::Stepper(int number_of_steps, int motor_pin_1, int motor_pin_2)
|
||||
* constructor for four-pin version
|
||||
* Sets which wires should control the motor.
|
||||
*/
|
||||
|
||||
Stepper::Stepper(int number_of_steps, int motor_pin_1, int motor_pin_2, int motor_pin_3, int motor_pin_4)
|
||||
Stepper::Stepper(int number_of_steps, int motor_pin_1, int motor_pin_2,
|
||||
int motor_pin_3, int motor_pin_4)
|
||||
{
|
||||
this->step_number = 0; // which step the motor is on
|
||||
this->speed = 0; // the motor speed, in revolutions per minute
|
||||
this->step_number = 0; // which step the motor is on
|
||||
this->speed = 0; // the motor speed, in revolutions per minute
|
||||
this->direction = 0; // motor direction
|
||||
this->last_step_time = 0; // time stamp in ms of the last step taken
|
||||
this->number_of_steps = number_of_steps; // total number of steps for this motor
|
||||
|
||||
this->last_step_time = 0; // time stamp in us of the last step taken
|
||||
this->number_of_steps = number_of_steps; // total number of steps for this motor
|
||||
|
||||
// Arduino pins for the motor control connection:
|
||||
this->motor_pin_1 = motor_pin_1;
|
||||
this->motor_pin_2 = motor_pin_2;
|
||||
@ -115,47 +133,86 @@ Stepper::Stepper(int number_of_steps, int motor_pin_1, int motor_pin_2, int moto
|
||||
pinMode(this->motor_pin_3, OUTPUT);
|
||||
pinMode(this->motor_pin_4, OUTPUT);
|
||||
|
||||
// pin_count is used by the stepMotor() method:
|
||||
this->pin_count = 4;
|
||||
// When there are 4 pins, set the others to 0:
|
||||
this->motor_pin_5 = 0;
|
||||
|
||||
// pin_count is used by the stepMotor() method:
|
||||
this->pin_count = 4;
|
||||
}
|
||||
|
||||
/*
|
||||
Sets the speed in revs per minute
|
||||
* constructor for five phase motor with five wires
|
||||
* Sets which wires should control the motor.
|
||||
*/
|
||||
Stepper::Stepper(int number_of_steps, int motor_pin_1, int motor_pin_2,
|
||||
int motor_pin_3, int motor_pin_4,
|
||||
int motor_pin_5)
|
||||
{
|
||||
this->step_number = 0; // which step the motor is on
|
||||
this->speed = 0; // the motor speed, in revolutions per minute
|
||||
this->direction = 0; // motor direction
|
||||
this->last_step_time = 0; // time stamp in us of the last step taken
|
||||
this->number_of_steps = number_of_steps; // total number of steps for this motor
|
||||
|
||||
*/
|
||||
// Arduino pins for the motor control connection:
|
||||
this->motor_pin_1 = motor_pin_1;
|
||||
this->motor_pin_2 = motor_pin_2;
|
||||
this->motor_pin_3 = motor_pin_3;
|
||||
this->motor_pin_4 = motor_pin_4;
|
||||
this->motor_pin_5 = motor_pin_5;
|
||||
|
||||
// setup the pins on the microcontroller:
|
||||
pinMode(this->motor_pin_1, OUTPUT);
|
||||
pinMode(this->motor_pin_2, OUTPUT);
|
||||
pinMode(this->motor_pin_3, OUTPUT);
|
||||
pinMode(this->motor_pin_4, OUTPUT);
|
||||
pinMode(this->motor_pin_5, OUTPUT);
|
||||
|
||||
// pin_count is used by the stepMotor() method:
|
||||
this->pin_count = 5;
|
||||
}
|
||||
|
||||
/*
|
||||
* Sets the speed in revs per minute
|
||||
*/
|
||||
void Stepper::setSpeed(long whatSpeed)
|
||||
{
|
||||
this->step_delay = 60L * 1000L / this->number_of_steps / whatSpeed;
|
||||
this->step_delay = 60L * 1000L * 1000L / this->number_of_steps / whatSpeed;
|
||||
}
|
||||
|
||||
/*
|
||||
Moves the motor steps_to_move steps. If the number is negative,
|
||||
the motor moves in the reverse direction.
|
||||
* Moves the motor steps_to_move steps. If the number is negative,
|
||||
* the motor moves in the reverse direction.
|
||||
*/
|
||||
void Stepper::step(int steps_to_move)
|
||||
{
|
||||
{
|
||||
int steps_left = abs(steps_to_move); // how many steps to take
|
||||
|
||||
|
||||
// determine direction based on whether steps_to_mode is + or -:
|
||||
if (steps_to_move > 0) {this->direction = 1;}
|
||||
if (steps_to_move < 0) {this->direction = 0;}
|
||||
|
||||
|
||||
if (steps_to_move > 0) { this->direction = 1; }
|
||||
if (steps_to_move < 0) { this->direction = 0; }
|
||||
|
||||
|
||||
// decrement the number of steps, moving one step each time:
|
||||
while(steps_left > 0) {
|
||||
// move only if the appropriate delay has passed:
|
||||
if (millis() - this->last_step_time >= this->step_delay) {
|
||||
while (steps_left > 0)
|
||||
{
|
||||
unsigned long now = micros();
|
||||
// move only if the appropriate delay has passed:
|
||||
if (now - this->last_step_time >= this->step_delay)
|
||||
{
|
||||
// get the timeStamp of when you stepped:
|
||||
this->last_step_time = millis();
|
||||
this->last_step_time = now;
|
||||
// increment or decrement the step number,
|
||||
// depending on direction:
|
||||
if (this->direction == 1) {
|
||||
if (this->direction == 1)
|
||||
{
|
||||
this->step_number++;
|
||||
if (this->step_number == this->number_of_steps) {
|
||||
this->step_number = 0;
|
||||
}
|
||||
}
|
||||
else {
|
||||
}
|
||||
else
|
||||
{
|
||||
if (this->step_number == 0) {
|
||||
this->step_number = this->number_of_steps;
|
||||
}
|
||||
@ -163,8 +220,11 @@ void Stepper::step(int steps_to_move)
|
||||
}
|
||||
// decrement the steps left:
|
||||
steps_left--;
|
||||
// step the motor to step number 0, 1, 2, or 3:
|
||||
stepMotor(this->step_number % 4);
|
||||
// step the motor to step number 0, 1, ..., {3 or 10}
|
||||
if (this->pin_count == 5)
|
||||
stepMotor(this->step_number % 10);
|
||||
else
|
||||
stepMotor(this->step_number % 4);
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -176,51 +236,126 @@ void Stepper::stepMotor(int thisStep)
|
||||
{
|
||||
if (this->pin_count == 2) {
|
||||
switch (thisStep) {
|
||||
case 0: /* 01 */
|
||||
digitalWrite(motor_pin_1, LOW);
|
||||
digitalWrite(motor_pin_2, HIGH);
|
||||
case 0: // 01
|
||||
digitalWrite(motor_pin_1, LOW);
|
||||
digitalWrite(motor_pin_2, HIGH);
|
||||
break;
|
||||
case 1: /* 11 */
|
||||
digitalWrite(motor_pin_1, HIGH);
|
||||
digitalWrite(motor_pin_2, HIGH);
|
||||
case 1: // 11
|
||||
digitalWrite(motor_pin_1, HIGH);
|
||||
digitalWrite(motor_pin_2, HIGH);
|
||||
break;
|
||||
case 2: /* 10 */
|
||||
digitalWrite(motor_pin_1, HIGH);
|
||||
digitalWrite(motor_pin_2, LOW);
|
||||
case 2: // 10
|
||||
digitalWrite(motor_pin_1, HIGH);
|
||||
digitalWrite(motor_pin_2, LOW);
|
||||
break;
|
||||
case 3: /* 00 */
|
||||
digitalWrite(motor_pin_1, LOW);
|
||||
digitalWrite(motor_pin_2, LOW);
|
||||
case 3: // 00
|
||||
digitalWrite(motor_pin_1, LOW);
|
||||
digitalWrite(motor_pin_2, LOW);
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
if (this->pin_count == 4) {
|
||||
switch (thisStep) {
|
||||
case 0: // 1010
|
||||
digitalWrite(motor_pin_1, HIGH);
|
||||
digitalWrite(motor_pin_2, LOW);
|
||||
digitalWrite(motor_pin_3, HIGH);
|
||||
digitalWrite(motor_pin_4, LOW);
|
||||
case 0: // 1010
|
||||
digitalWrite(motor_pin_1, HIGH);
|
||||
digitalWrite(motor_pin_2, LOW);
|
||||
digitalWrite(motor_pin_3, HIGH);
|
||||
digitalWrite(motor_pin_4, LOW);
|
||||
break;
|
||||
case 1: // 0110
|
||||
digitalWrite(motor_pin_1, LOW);
|
||||
digitalWrite(motor_pin_2, HIGH);
|
||||
digitalWrite(motor_pin_3, HIGH);
|
||||
digitalWrite(motor_pin_4, LOW);
|
||||
case 1: // 0110
|
||||
digitalWrite(motor_pin_1, LOW);
|
||||
digitalWrite(motor_pin_2, HIGH);
|
||||
digitalWrite(motor_pin_3, HIGH);
|
||||
digitalWrite(motor_pin_4, LOW);
|
||||
break;
|
||||
case 2: //0101
|
||||
digitalWrite(motor_pin_1, LOW);
|
||||
digitalWrite(motor_pin_2, HIGH);
|
||||
digitalWrite(motor_pin_3, LOW);
|
||||
digitalWrite(motor_pin_4, HIGH);
|
||||
case 2: //0101
|
||||
digitalWrite(motor_pin_1, LOW);
|
||||
digitalWrite(motor_pin_2, HIGH);
|
||||
digitalWrite(motor_pin_3, LOW);
|
||||
digitalWrite(motor_pin_4, HIGH);
|
||||
break;
|
||||
case 3: //1001
|
||||
digitalWrite(motor_pin_1, HIGH);
|
||||
digitalWrite(motor_pin_2, LOW);
|
||||
digitalWrite(motor_pin_3, LOW);
|
||||
digitalWrite(motor_pin_4, HIGH);
|
||||
case 3: //1001
|
||||
digitalWrite(motor_pin_1, HIGH);
|
||||
digitalWrite(motor_pin_2, LOW);
|
||||
digitalWrite(motor_pin_3, LOW);
|
||||
digitalWrite(motor_pin_4, HIGH);
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if (this->pin_count == 5) {
|
||||
switch (thisStep) {
|
||||
case 0: // 01101
|
||||
digitalWrite(motor_pin_1, LOW);
|
||||
digitalWrite(motor_pin_2, HIGH);
|
||||
digitalWrite(motor_pin_3, HIGH);
|
||||
digitalWrite(motor_pin_4, LOW);
|
||||
digitalWrite(motor_pin_5, HIGH);
|
||||
break;
|
||||
case 1: // 01001
|
||||
digitalWrite(motor_pin_1, LOW);
|
||||
digitalWrite(motor_pin_2, HIGH);
|
||||
digitalWrite(motor_pin_3, LOW);
|
||||
digitalWrite(motor_pin_4, LOW);
|
||||
digitalWrite(motor_pin_5, HIGH);
|
||||
break;
|
||||
case 2: // 01011
|
||||
digitalWrite(motor_pin_1, LOW);
|
||||
digitalWrite(motor_pin_2, HIGH);
|
||||
digitalWrite(motor_pin_3, LOW);
|
||||
digitalWrite(motor_pin_4, HIGH);
|
||||
digitalWrite(motor_pin_5, HIGH);
|
||||
break;
|
||||
case 3: // 01010
|
||||
digitalWrite(motor_pin_1, LOW);
|
||||
digitalWrite(motor_pin_2, HIGH);
|
||||
digitalWrite(motor_pin_3, LOW);
|
||||
digitalWrite(motor_pin_4, HIGH);
|
||||
digitalWrite(motor_pin_5, LOW);
|
||||
break;
|
||||
case 4: // 11010
|
||||
digitalWrite(motor_pin_1, HIGH);
|
||||
digitalWrite(motor_pin_2, HIGH);
|
||||
digitalWrite(motor_pin_3, LOW);
|
||||
digitalWrite(motor_pin_4, HIGH);
|
||||
digitalWrite(motor_pin_5, LOW);
|
||||
break;
|
||||
case 5: // 10010
|
||||
digitalWrite(motor_pin_1, HIGH);
|
||||
digitalWrite(motor_pin_2, LOW);
|
||||
digitalWrite(motor_pin_3, LOW);
|
||||
digitalWrite(motor_pin_4, HIGH);
|
||||
digitalWrite(motor_pin_5, LOW);
|
||||
break;
|
||||
case 6: // 10110
|
||||
digitalWrite(motor_pin_1, HIGH);
|
||||
digitalWrite(motor_pin_2, LOW);
|
||||
digitalWrite(motor_pin_3, HIGH);
|
||||
digitalWrite(motor_pin_4, HIGH);
|
||||
digitalWrite(motor_pin_5, LOW);
|
||||
break;
|
||||
case 7: // 10100
|
||||
digitalWrite(motor_pin_1, HIGH);
|
||||
digitalWrite(motor_pin_2, LOW);
|
||||
digitalWrite(motor_pin_3, HIGH);
|
||||
digitalWrite(motor_pin_4, LOW);
|
||||
digitalWrite(motor_pin_5, LOW);
|
||||
break;
|
||||
case 8: // 10101
|
||||
digitalWrite(motor_pin_1, HIGH);
|
||||
digitalWrite(motor_pin_2, LOW);
|
||||
digitalWrite(motor_pin_3, HIGH);
|
||||
digitalWrite(motor_pin_4, LOW);
|
||||
digitalWrite(motor_pin_5, HIGH);
|
||||
break;
|
||||
case 9: // 00101
|
||||
digitalWrite(motor_pin_1, LOW);
|
||||
digitalWrite(motor_pin_2, LOW);
|
||||
digitalWrite(motor_pin_3, HIGH);
|
||||
digitalWrite(motor_pin_4, LOW);
|
||||
digitalWrite(motor_pin_5, HIGH);
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@ -229,5 +364,5 @@ void Stepper::stepMotor(int thisStep)
|
||||
*/
|
||||
int Stepper::version(void)
|
||||
{
|
||||
return 4;
|
||||
return 5;
|
||||
}
|
||||
|
||||
@ -1,59 +1,79 @@
|
||||
/*
|
||||
Stepper.h - - Stepper library for Wiring/Arduino - Version 0.4
|
||||
|
||||
Original library (0.1) by Tom Igoe.
|
||||
Two-wire modifications (0.2) by Sebastian Gassner
|
||||
Combination version (0.3) by Tom Igoe and David Mellis
|
||||
Bug fix for four-wire (0.4) by Tom Igoe, bug fix from Noah Shibley
|
||||
|
||||
Drives a unipolar or bipolar stepper motor using 2 wires or 4 wires
|
||||
|
||||
When wiring multiple stepper motors to a microcontroller,
|
||||
you quickly run out of output pins, with each motor requiring 4 connections.
|
||||
|
||||
By making use of the fact that at any time two of the four motor
|
||||
coils are the inverse of the other two, the number of
|
||||
control connections can be reduced from 4 to 2.
|
||||
|
||||
A slightly modified circuit around a Darlington transistor array or an L293 H-bridge
|
||||
connects to only 2 microcontroler pins, inverts the signals received,
|
||||
and delivers the 4 (2 plus 2 inverted ones) output signals required
|
||||
for driving a stepper motor.
|
||||
|
||||
The sequence of control signals for 4 control wires is as follows:
|
||||
|
||||
Step C0 C1 C2 C3
|
||||
1 1 0 1 0
|
||||
2 0 1 1 0
|
||||
3 0 1 0 1
|
||||
4 1 0 0 1
|
||||
|
||||
The sequence of controls signals for 2 control wires is as follows
|
||||
(columns C1 and C2 from above):
|
||||
|
||||
Step C0 C1
|
||||
1 0 1
|
||||
2 1 1
|
||||
3 1 0
|
||||
4 0 0
|
||||
|
||||
The circuits can be found at
|
||||
http://www.arduino.cc/en/Tutorial/Stepper
|
||||
|
||||
This library is free software; you can redistribute it and/or
|
||||
modify it under the terms of the GNU Lesser General Public
|
||||
License as published by the Free Software Foundation; either
|
||||
version 2.1 of the License, or (at your option) any later version.
|
||||
|
||||
This library is distributed in the hope that it will be useful,
|
||||
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
|
||||
Lesser General Public License for more details.
|
||||
|
||||
You should have received a copy of the GNU Lesser General Public
|
||||
License along with this library; if not, write to the Free Software
|
||||
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
|
||||
*/
|
||||
* Stepper.h - Stepper library for Wiring/Arduino - Version 1.1.0
|
||||
*
|
||||
* Original library (0.1) by Tom Igoe.
|
||||
* Two-wire modifications (0.2) by Sebastian Gassner
|
||||
* Combination version (0.3) by Tom Igoe and David Mellis
|
||||
* Bug fix for four-wire (0.4) by Tom Igoe, bug fix from Noah Shibley
|
||||
* High-speed stepping mod by Eugene Kozlenko
|
||||
* Timer rollover fix by Eugene Kozlenko
|
||||
* Five phase five wire (1.1.0) by Ryan Orendorff
|
||||
*
|
||||
* This library is free software; you can redistribute it and/or
|
||||
* modify it under the terms of the GNU Lesser General Public
|
||||
* License as published by the Free Software Foundation; either
|
||||
* version 2.1 of the License, or (at your option) any later version.
|
||||
*
|
||||
* This library is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
|
||||
* Lesser General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU Lesser General Public
|
||||
* License along with this library; if not, write to the Free Software
|
||||
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
|
||||
*
|
||||
*
|
||||
* Drives a unipolar, bipolar, or five phase stepper motor.
|
||||
*
|
||||
* When wiring multiple stepper motors to a microcontroller, you quickly run
|
||||
* out of output pins, with each motor requiring 4 connections.
|
||||
*
|
||||
* By making use of the fact that at any time two of the four motor coils are
|
||||
* the inverse of the other two, the number of control connections can be
|
||||
* reduced from 4 to 2 for the unipolar and bipolar motors.
|
||||
*
|
||||
* A slightly modified circuit around a Darlington transistor array or an
|
||||
* L293 H-bridge connects to only 2 microcontroler pins, inverts the signals
|
||||
* received, and delivers the 4 (2 plus 2 inverted ones) output signals
|
||||
* required for driving a stepper motor. Similarly the Arduino motor shields
|
||||
* 2 direction pins may be used.
|
||||
*
|
||||
* The sequence of control signals for 5 phase, 5 control wires is as follows:
|
||||
*
|
||||
* Step C0 C1 C2 C3 C4
|
||||
* 1 0 1 1 0 1
|
||||
* 2 0 1 0 0 1
|
||||
* 3 0 1 0 1 1
|
||||
* 4 0 1 0 1 0
|
||||
* 5 1 1 0 1 0
|
||||
* 6 1 0 0 1 0
|
||||
* 7 1 0 1 1 0
|
||||
* 8 1 0 1 0 0
|
||||
* 9 1 0 1 0 1
|
||||
* 10 0 0 1 0 1
|
||||
*
|
||||
* The sequence of control signals for 4 control wires is as follows:
|
||||
*
|
||||
* Step C0 C1 C2 C3
|
||||
* 1 1 0 1 0
|
||||
* 2 0 1 1 0
|
||||
* 3 0 1 0 1
|
||||
* 4 1 0 0 1
|
||||
*
|
||||
* The sequence of controls signals for 2 control wires is as follows
|
||||
* (columns C1 and C2 from above):
|
||||
*
|
||||
* Step C0 C1
|
||||
* 1 0 1
|
||||
* 2 1 1
|
||||
* 3 1 0
|
||||
* 4 0 0
|
||||
*
|
||||
* The circuits can be found at
|
||||
*
|
||||
* http://www.arduino.cc/en/Tutorial/Stepper
|
||||
*/
|
||||
|
||||
// ensure this library description is only included once
|
||||
#ifndef Stepper_h
|
||||
@ -64,7 +84,11 @@ class Stepper {
|
||||
public:
|
||||
// constructors:
|
||||
Stepper(int number_of_steps, int motor_pin_1, int motor_pin_2);
|
||||
Stepper(int number_of_steps, int motor_pin_1, int motor_pin_2, int motor_pin_3, int motor_pin_4);
|
||||
Stepper(int number_of_steps, int motor_pin_1, int motor_pin_2,
|
||||
int motor_pin_3, int motor_pin_4);
|
||||
Stepper(int number_of_steps, int motor_pin_1, int motor_pin_2,
|
||||
int motor_pin_3, int motor_pin_4,
|
||||
int motor_pin_5);
|
||||
|
||||
// speed setter method:
|
||||
void setSpeed(long whatSpeed);
|
||||
@ -76,21 +100,22 @@ class Stepper {
|
||||
|
||||
private:
|
||||
void stepMotor(int this_step);
|
||||
|
||||
int direction; // Direction of rotation
|
||||
int speed; // Speed in RPMs
|
||||
unsigned long step_delay; // delay between steps, in ms, based on speed
|
||||
|
||||
int direction; // Direction of rotation
|
||||
int speed; // Speed in RPMs
|
||||
unsigned long step_delay; // delay between steps, in ms, based on speed
|
||||
int number_of_steps; // total number of steps this motor can take
|
||||
int pin_count; // whether you're driving the motor with 2 or 4 pins
|
||||
int step_number; // which step the motor is on
|
||||
|
||||
int pin_count; // how many pins are in use.
|
||||
int step_number; // which step the motor is on
|
||||
|
||||
// motor pin numbers:
|
||||
int motor_pin_1;
|
||||
int motor_pin_2;
|
||||
int motor_pin_3;
|
||||
int motor_pin_4;
|
||||
|
||||
long last_step_time; // time stamp in ms of when the last step was taken
|
||||
int motor_pin_5; // Only 5 phase motor
|
||||
|
||||
unsigned long last_step_time; // time stamp in us of when the last step was taken
|
||||
};
|
||||
|
||||
#endif
|
||||
|
||||
@ -3,7 +3,7 @@
|
||||
This library enables an Arduino board to communicate with the Arduino TFT LCD screen. It simplifies the process for drawing shapes, lines, images, and text to the screen.
|
||||
|
||||
For more information about this library please visit us at
|
||||
http://arduino.cc/en/Reference/TFTLibrary
|
||||
http://www.arduino.cc/en/Reference/TFTLibrary
|
||||
|
||||
== License ==
|
||||
|
||||
|
||||
@ -15,7 +15,7 @@
|
||||
|
||||
Created 19 April 2013 by Enrico Gueli
|
||||
|
||||
http://arduino.cc/en/Tutorial/TFTBitmapLogo
|
||||
http://www.arduino.cc/en/Tutorial/TFTBitmapLogo
|
||||
|
||||
*/
|
||||
|
||||
|
||||
@ -10,7 +10,7 @@
|
||||
|
||||
Created 15 April 2013 by Scott Fitzgerald
|
||||
|
||||
http://arduino.cc/en/Tutorial/TFTColorPicker
|
||||
http://www.arduino.cc/en/Tutorial/TFTColorPicker
|
||||
|
||||
*/
|
||||
|
||||
|
||||
@ -11,7 +11,7 @@
|
||||
|
||||
Created 15 April 2013 by Scott Fitzgerald
|
||||
|
||||
http://arduino.cc/en/Tutorial/TFTDisplayText
|
||||
http://www.arduino.cc/en/Tutorial/TFTDisplayText
|
||||
|
||||
*/
|
||||
|
||||
|
||||
@ -10,7 +10,7 @@
|
||||
|
||||
Created 15 April 2013 by Scott Fitzgerald
|
||||
|
||||
http://arduino.cc/en/Tutorial/TFTEtchASketch
|
||||
http://www.arduino.cc/en/Tutorial/TFTEtchASketch
|
||||
|
||||
*/
|
||||
|
||||
|
||||
@ -10,7 +10,7 @@
|
||||
|
||||
Created 15 April 2013 by Scott Fitzgerald
|
||||
|
||||
http://arduino.cc/en/Tutorial/TFTGraph
|
||||
http://www.arduino.cc/en/Tutorial/TFTGraph
|
||||
|
||||
*/
|
||||
|
||||
|
||||
@ -12,7 +12,7 @@
|
||||
Created by Tom Igoe December 2012
|
||||
Modified 15 April 2013 by Scott Fitzgerald
|
||||
|
||||
http://arduino.cc/en/Tutorial/TFTPong
|
||||
http://www.arduino.cc/en/Tutorial/TFTPong
|
||||
|
||||
*/
|
||||
|
||||
|
||||
@ -17,7 +17,7 @@
|
||||
|
||||
Created 19 April 2013 by Enrico Gueli
|
||||
|
||||
http://arduino.cc/en/Tutorial/EsploraTFTBitmapLogo
|
||||
http://www.arduino.cc/en/Tutorial/EsploraTFTBitmapLogo
|
||||
|
||||
*/
|
||||
|
||||
|
||||
@ -10,7 +10,7 @@
|
||||
|
||||
Created 15 April 2013 by Scott Fitzgerald
|
||||
|
||||
http://arduino.cc/en/Tutorial/TFTColorPicker
|
||||
http://www.arduino.cc/en/Tutorial/TFTColorPicker
|
||||
|
||||
*/
|
||||
|
||||
|
||||
@ -11,7 +11,7 @@
|
||||
|
||||
Created 15 April 2013 by Scott Fitzgerald
|
||||
|
||||
http://arduino.cc/en/Tutorial/EsploraTFTEtchASketch
|
||||
http://www.arduino.cc/en/Tutorial/EsploraTFTEtchASketch
|
||||
|
||||
*/
|
||||
|
||||
|
||||
@ -10,7 +10,7 @@
|
||||
|
||||
Created 15 April 2013 by Scott Fitzgerald
|
||||
|
||||
http://arduino.cc/en/Tutorial/EsploraTFTGraph
|
||||
http://www.arduino.cc/en/Tutorial/EsploraTFTGraph
|
||||
|
||||
*/
|
||||
|
||||
|
||||
@ -10,7 +10,7 @@
|
||||
|
||||
Created 15 April 2013 by Scott Fitzgerald
|
||||
|
||||
http://arduino.cc/en/Tutorial/EsploraTFTHorizon
|
||||
http://www.arduino.cc/en/Tutorial/EsploraTFTHorizon
|
||||
|
||||
*/
|
||||
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user