add arduino-0018-linux (32 bit)
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/*
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Copyright (C) 2009 Jeff Hoefs. All rights reserved.
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Copyright (C) 2009 Shigeru Kobayashi. All rights reserved.
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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See file LICENSE.txt for further informations on licensing terms.
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*/
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#include <Wire.h>
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#include <Firmata.h>
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#define I2C_WRITE B00000000
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#define I2C_READ B00001000
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#define I2C_READ_CONTINUOUSLY B00010000
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#define I2C_STOP_READING B00011000
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#define I2C_READ_WRITE_MODE_MASK B00011000
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#define MAX_QUERIES 8
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unsigned long currentMillis; // store the current value from millis()
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unsigned long nextExecuteMillis; // for comparison with currentMillis
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unsigned int samplingInterval = 32; // default sampling interval is 33ms
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unsigned int i2cReadDelayTime = 0; // default delay time between i2c read request and Wire.requestFrom()
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unsigned int powerPinsEnabled = 0; // use as boolean to prevent enablePowerPins from being called more than once
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#define MINIMUM_SAMPLING_INTERVAL 10
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#define REGISTER_NOT_SPECIFIED -1
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struct i2c_device_info {
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byte addr;
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byte reg;
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byte bytes;
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};
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i2c_device_info query[MAX_QUERIES];
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byte i2cRxData[32];
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boolean readingContinuously = false;
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byte queryIndex = 0;
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void readAndReportData(byte address, int theRegister, byte numBytes)
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{
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if (theRegister != REGISTER_NOT_SPECIFIED) {
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Wire.beginTransmission(address);
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Wire.send((byte)theRegister);
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Wire.endTransmission();
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delayMicroseconds(i2cReadDelayTime); // delay is necessary for some devices such as WiiNunchuck
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}
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else {
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theRegister = 0; // fill the register with a dummy value
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}
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Wire.requestFrom(address, numBytes);
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// check to be sure correct number of bytes were returned by slave
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if(numBytes == Wire.available()) {
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i2cRxData[0] = address;
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i2cRxData[1] = theRegister;
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for (int i = 0; i < numBytes; i++) {
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i2cRxData[2 + i] = Wire.receive();
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}
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// send slave address, register and received bytes
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Firmata.sendSysex(I2C_REPLY, numBytes + 2, i2cRxData);
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}
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else {
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if(numBytes > Wire.available()) {
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Firmata.sendString("I2C Read Error: Too many bytes received");
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} else {
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Firmata.sendString("I2C Read Error: Too few bytes received");
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}
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}
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}
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void sysexCallback(byte command, byte argc, byte *argv)
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{
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byte mode;
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byte slaveAddress;
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byte slaveRegister;
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byte data;
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int delayTime;
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if (command == I2C_REQUEST) {
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mode = argv[1] & I2C_READ_WRITE_MODE_MASK;
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slaveAddress = argv[0];
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switch(mode) {
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case I2C_WRITE:
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Wire.beginTransmission(slaveAddress);
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for (byte i = 2; i < argc; i += 2) {
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data = argv[i] + (argv[i + 1] << 7);
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Wire.send(data);
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}
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Wire.endTransmission();
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delayMicroseconds(70); // TODO is this needed?
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break;
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case I2C_READ:
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if (argc == 6) {
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// a slave register is specified
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slaveRegister = argv[2] + (argv[3] << 7);
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data = argv[4] + (argv[5] << 7); // bytes to read
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readAndReportData(slaveAddress, (int)slaveRegister, data);
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}
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else {
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// a slave register is NOT specified
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data = argv[2] + (argv[3] << 7); // bytes to read
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readAndReportData(slaveAddress, (int)REGISTER_NOT_SPECIFIED, data);
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}
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break;
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case I2C_READ_CONTINUOUSLY:
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if ((queryIndex + 1) >= MAX_QUERIES) {
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// too many queries, just ignore
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Firmata.sendString("too many queries");
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break;
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}
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query[queryIndex].addr = slaveAddress;
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query[queryIndex].reg = argv[2] + (argv[3] << 7);
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query[queryIndex].bytes = argv[4] + (argv[5] << 7);
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readingContinuously = true;
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queryIndex++;
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break;
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case I2C_STOP_READING:
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readingContinuously = false;
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queryIndex = 0;
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break;
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default:
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break;
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}
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}
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else if (command == SAMPLING_INTERVAL) {
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samplingInterval = argv[0] + (argv[1] << 7);
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if (samplingInterval < MINIMUM_SAMPLING_INTERVAL) {
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samplingInterval = MINIMUM_SAMPLING_INTERVAL;
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}
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samplingInterval -= 1;
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Firmata.sendString("sampling interval");
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}
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else if (command == I2C_CONFIG) {
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delayTime = (argv[4] + (argv[5] << 7)); // MSB
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delayTime = (delayTime << 8) + (argv[2] + (argv[3] << 7)); // add LSB
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if((argv[0] + (argv[1] << 7)) > 0) {
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enablePowerPins(PORTC3, PORTC2);
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}
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if(delayTime > 0) {
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i2cReadDelayTime = delayTime;
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}
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if(argc > 6) {
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// If you extend I2C_Config, handle your data here
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}
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}
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}
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void systemResetCallback()
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{
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readingContinuously = false;
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queryIndex = 0;
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}
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/* reference: BlinkM_funcs.h by Tod E. Kurt, ThingM, http://thingm.com/ */
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// Enables Pins A2 and A3 to be used as GND and Power
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// so that I2C devices can be plugged directly
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// into Arduino header (pins A2 - A5)
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static void enablePowerPins(byte pwrpin, byte gndpin)
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{
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if(powerPinsEnabled == 0) {
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DDRC |= _BV(pwrpin) | _BV(gndpin);
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PORTC &=~ _BV(gndpin);
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PORTC |= _BV(pwrpin);
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powerPinsEnabled = 1;
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Firmata.sendString("Power pins enabled");
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delay(100);
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}
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}
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void setup()
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{
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Firmata.setFirmwareVersion(2, 0);
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Firmata.attach(START_SYSEX, sysexCallback);
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Firmata.attach(SYSTEM_RESET, systemResetCallback);
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for (int i = 0; i < TOTAL_DIGITAL_PINS; ++i) {
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pinMode(i, OUTPUT);
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}
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Firmata.begin(57600);
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Wire.begin();
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}
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void loop()
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{
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while (Firmata.available()) {
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Firmata.processInput();
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}
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currentMillis = millis();
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if (currentMillis > nextExecuteMillis) {
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nextExecuteMillis = currentMillis + samplingInterval;
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for (byte i = 0; i < queryIndex; i++) {
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readAndReportData(query[i].addr, query[i].reg, query[i].bytes);
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}
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}
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}
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