/* 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. formatted using the GNU C formatting and indenting */ /* * TODO: use Program Control to load stored profiles from EEPROM */ #include #include /*============================================================================== * 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) Servo servos[MAX_SERVOS]; /*============================================================================== * FUNCTIONS *============================================================================*/ 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 (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)); } else { Firmata.sendString("Servo only on pins from 2 to 13"); } } break; case I2C: pinConfig[pin] = mode; Firmata.sendString("I2C mode not yet supported"); 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) { switch(command) { 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)) { // servos are pins from 2 to 13, so offset for array 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); 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: Serial.write(START_SYSEX); Serial.write(CAPABILITY_RESPONSE); for (byte pin=0; pin < TOTAL_PINS; pin++) { if (IS_PIN_DIGITAL(pin)) { Serial.write((byte)INPUT); Serial.write(1); Serial.write((byte)OUTPUT); Serial.write(1); } if (IS_PIN_ANALOG(pin)) { Serial.write(ANALOG); Serial.write(10); } if (IS_PIN_PWM(pin)) { Serial.write(PWM); Serial.write(8); } if (IS_PIN_SERVO(pin)) { Serial.write(SERVO); Serial.write(14); } Serial.write(127); } Serial.write(END_SYSEX); break; case PIN_STATE_QUERY: if (argc > 0) { byte pin=argv[0]; Serial.write(START_SYSEX); Serial.write(PIN_STATE_RESPONSE); Serial.write(pin); if (pin < TOTAL_PINS) { Serial.write((byte)pinConfig[pin]); Serial.write((byte)pinState[pin] & 0x7F); if (pinState[pin] & 0xFF80) Serial.write((byte)(pinState[pin] >> 7) & 0x7F); if (pinState[pin] & 0xC000) Serial.write((byte)(pinState[pin] >> 14) & 0x7F); } Serial.write(END_SYSEX); } break; case ANALOG_MAPPING_QUERY: Serial.write(START_SYSEX); Serial.write(ANALOG_MAPPING_RESPONSE); for (byte pin=0; pin < TOTAL_PINS; pin++) { Serial.write(IS_PIN_ANALOG(pin) ? PIN_TO_ANALOG(pin) : 127); } Serial.write(END_SYSEX); break; } } /*============================================================================== * SETUP() *============================================================================*/ void setup() { byte i; Firmata.setFirmwareVersion(2, 2); 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); // TODO: load state from EEPROM here /* these are initialized to zero by the compiler startup code for (i=0; i < TOTAL_PORTS; i++) { reportPINs[i] = false; portConfigInputs[i] = 0; previousPINs[i] = 0; } */ for (i=0; i < TOTAL_PINS; i++) { if (IS_PIN_ANALOG(i)) { // turns off pullup, configures everything setPinModeCallback(i, ANALOG); } else { // sets the output to 0, configures portConfigInputs setPinModeCallback(i, OUTPUT); } } // by defult, do not report any analog inputs analogInputsToReport = 0; Firmata.begin(57600); /* send digital inputs to set the initial state on the host computer, * since once in the loop(), this firmware will only send on change */ for (i=0; i < TOTAL_PORTS; i++) { outputPort(i, readPort(i, portConfigInputs[i]), true); } } /*============================================================================== * 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