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mitchellhansen
2020-02-02 15:28:36 -08:00
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/*
Boards.h - Hardware Abstraction Layer for Firmata library
Copyright (c) 2006-2008 Hans-Christoph Steiner. All rights reserved.
Copyright (C) 2009-2017 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.
Last updated April 15th, 2018
*/
#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__) || defined(__AVR_ATmega328__)
#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 PIN_SERIAL1_RX 19
#define PIN_SERIAL1_TX 18
#define PIN_SERIAL2_RX 17
#define PIN_SERIAL2_TX 16
#define PIN_SERIAL3_RX 15
#define PIN_SERIAL3_TX 14
#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 IS_PIN_SERIAL(p) ((p) > 13 && (p) < 20)
#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 PIN_SERIAL1_RX 19
#define PIN_SERIAL1_TX 18
#define PIN_SERIAL2_RX 17
#define PIN_SERIAL2_TX 16
#define PIN_SERIAL3_RX 15
#define PIN_SERIAL3_TX 14
#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 IS_PIN_SERIAL(p) ((p) > 13 && (p) < 20)
#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/Genuino MKR1000
#elif defined(ARDUINO_SAMD_MKR1000)
#define TOTAL_ANALOG_PINS 7
#define TOTAL_PINS 22 // 8 digital + 3 spi + 2 i2c + 2 uart + 7 analog
#define IS_PIN_DIGITAL(p) ((p) >= 0 && (p) <= 21)
#define IS_PIN_ANALOG(p) ((p) >= 15 && (p) < 15 + TOTAL_ANALOG_PINS)
#define IS_PIN_PWM(p) digitalPinHasPWM(p)
#define IS_PIN_SERVO(p) (IS_PIN_DIGITAL(p) && (p) < MAX_SERVOS) // deprecated since v2.4
#define IS_PIN_I2C(p) ((p) == 11 || (p) == 12) // SDA = 11, SCL = 12
#define IS_PIN_SPI(p) ((p) == SS || (p) == MOSI || (p) == MISO || (p) == SCK)
#define IS_PIN_SERIAL(p) ((p) == PIN_SERIAL1_RX || (p) == PIN_SERIAL1_TX) //defined in variant.h RX = 13, TX = 14
#define PIN_TO_DIGITAL(p) (p)
#define PIN_TO_ANALOG(p) ((p) - 15)
#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p)
#define PIN_TO_SERVO(p) (p) // deprecated since v2.4
// Arduino MKRZero
#elif defined(ARDUINO_SAMD_MKRZERO)
#define TOTAL_ANALOG_PINS 7
#define TOTAL_PINS 34 // 8 digital + 3 spi + 2 i2c + 2 uart + 7 analog + 3 usb + 1 aref + 5 sd + 1 bottom pad + 1 led + 1 battery adc
#define IS_PIN_DIGITAL(p) (((p) >= 0 && (p) <= 21) || (p) == 32)
#define IS_PIN_ANALOG(p) (((p) >= 15 && (p) < 15 + TOTAL_ANALOG_PINS) || (p) == 33)
#define IS_PIN_PWM(p) digitalPinHasPWM(p)
#define IS_PIN_SERVO(p) (IS_PIN_DIGITAL(p) && (p) < MAX_SERVOS) // deprecated since v2.4
#define IS_PIN_I2C(p) ((p) == 11 || (p) == 12) // SDA = 11, SCL = 12
#define IS_PIN_SPI(p) ((p) == SS || (p) == MOSI || (p) == MISO || (p) == SCK)
#define IS_PIN_SERIAL(p) ((p) == PIN_SERIAL1_RX || (p) == PIN_SERIAL1_TX) //defined in variant.h RX = 13, TX = 14
#define PIN_TO_DIGITAL(p) (p)
#define PIN_TO_ANALOG(p) ((p) - 15)
#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p)
#define PIN_TO_SERVO(p) (p) // deprecated since v2.4
// Arduino MKRFox1200
#elif defined(ARDUINO_SAMD_MKRFox1200)
#define TOTAL_ANALOG_PINS 7
#define TOTAL_PINS 33 // 8 digital + 3 spi + 2 i2c + 2 uart + 7 analog + 3 usb + 1 aref + 5 sd + 1 bottom pad + 1 battery adc
#define IS_PIN_DIGITAL(p) (((p) >= 0 && (p) <= 21))
#define IS_PIN_ANALOG(p) (((p) >= 15 && (p) < 15 + TOTAL_ANALOG_PINS) || (p) == 32)
#define IS_PIN_PWM(p) digitalPinHasPWM(p)
#define IS_PIN_SERVO(p) (IS_PIN_DIGITAL(p) && (p) < MAX_SERVOS) // deprecated since v2.4
#define IS_PIN_I2C(p) ((p) == 11 || (p) == 12) // SDA = 11, SCL = 12
#define IS_PIN_SPI(p) ((p) == SS || (p) == MOSI || (p) == MISO || (p) == SCK)
#define IS_PIN_SERIAL(p) ((p) == PIN_SERIAL1_RX || (p) == PIN_SERIAL1_TX) //defined in variant.h RX = 13, TX = 14
#define PIN_TO_DIGITAL(p) (p)
#define PIN_TO_ANALOG(p) ((p) - 15)
#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p)
#define PIN_TO_SERVO(p) (p) // deprecated since v2.4
// Arduino MKR WAN 1300
#elif defined(ARDUINO_SAMD_MKRWAN1300)
#define TOTAL_ANALOG_PINS 7
#define TOTAL_PINS 33
#define IS_PIN_DIGITAL(p) (((p) >= 0 && (p) <= 21))
#define IS_PIN_ANALOG(p) (((p) >= 15 && (p) < 15 + TOTAL_ANALOG_PINS) || (p) == 32)
#define IS_PIN_PWM(p) digitalPinHasPWM(p)
#define IS_PIN_SERVO(p) (IS_PIN_DIGITAL(p) && (p) < MAX_SERVOS) // deprecated since v2.4
#define IS_PIN_I2C(p) ((p) == 11 || (p) == 12) // SDA = 11, SCL = 12
#define IS_PIN_SPI(p) ((p) == SS || (p) == MOSI || (p) == MISO || (p) == SCK)
#define IS_PIN_SERIAL(p) ((p) == PIN_SERIAL1_RX || (p) == PIN_SERIAL1_TX) //defined in variant.h RX = 13, TX = 14
#define PIN_TO_DIGITAL(p) (p)
#define PIN_TO_ANALOG(p) ((p) - 15)
#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p)
#define PIN_TO_SERVO(p) (p) // deprecated since v2.4
// Arduino MKR GSM 1400
#elif defined(ARDUINO_SAMD_MKRGSM1400)
#define TOTAL_ANALOG_PINS 7
#define TOTAL_PINS 33
#define IS_PIN_DIGITAL(p) (((p) >= 0 && (p) <= 21))
#define IS_PIN_ANALOG(p) (((p) >= 15 && (p) < 15 + TOTAL_ANALOG_PINS) || (p) == 32)
#define IS_PIN_PWM(p) digitalPinHasPWM(p)
#define IS_PIN_SERVO(p) (IS_PIN_DIGITAL(p) && (p) < MAX_SERVOS) // deprecated since v2.4
#define IS_PIN_I2C(p) ((p) == 11 || (p) == 12) // SDA = 11, SCL = 12
#define IS_PIN_SPI(p) ((p) == SS || (p) == MOSI || (p) == MISO || (p) == SCK)
#define IS_PIN_SERIAL(p) ((p) == PIN_SERIAL1_RX || (p) == PIN_SERIAL1_TX) //defined in variant.h RX = 13, TX = 14
#define PIN_TO_DIGITAL(p) (p)
#define PIN_TO_ANALOG(p) ((p) - 15)
#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p)
#define PIN_TO_SERVO(p) (p) // deprecated since v2.4
// Arduino Zero
// Note this will work with an Arduino Zero Pro, but not with an Arduino M0 Pro
// Arduino M0 Pro does not properly map pins to the board labeled pin numbers
#elif defined(_VARIANT_ARDUINO_ZERO_)
#define TOTAL_ANALOG_PINS 6
#define TOTAL_PINS 25 // 14 digital + 6 analog + 2 i2c + 3 spi
#define TOTAL_PORTS 3 // set when TOTAL_PINS > num digitial I/O pins
#define VERSION_BLINK_PIN LED_BUILTIN
//#define PIN_SERIAL1_RX 0 // already defined in zero core variant.h
//#define PIN_SERIAL1_TX 1 // already defined in zero core variant.h
#define IS_PIN_DIGITAL(p) ((p) >= 0 && (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) < MAX_SERVOS) // deprecated since v2.4
#define IS_PIN_I2C(p) ((p) == 20 || (p) == 21) // SDA = 20, SCL = 21
#define IS_PIN_SPI(p) ((p) == SS || (p) == MOSI || (p) == MISO || (p) == SCK) // SS = A2
#define IS_PIN_SERIAL(p) ((p) == 0 || (p) == 1)
#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) // deprecated since v2.4
// Arduino Primo
#elif defined(ARDUINO_PRIMO)
#define TOTAL_ANALOG_PINS 6
#define TOTAL_PINS 22 //14 digital + 6 analog + 2 i2c
#define VERSION_BLINK_PIN LED_BUILTIN
#define IS_PIN_DIGITAL(p) ((p) >= 2 && (p) < 20)
#define IS_PIN_ANALOG(p) ((p) >= 14 && (p) < 20)
#define IS_PIN_PWM(p) digitalPinHasPWM(p)
#define IS_PIN_SERVO(p) (IS_PIN_DIGITAL(p) && (p) < MAX_SERVOS+2)
#define IS_PIN_I2C(p) ((p) == PIN_WIRE_SDA || (p) == PIN_WIRE_SCL) // SDA = 20, SCL = 21
#define IS_PIN_SPI(p) ((p) == SS || (p)== MOSI || (p) == MISO || (p == SCK)) // 10, 11, 12, 13
#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)
// Arduino 101
#elif defined(_VARIANT_ARDUINO_101_X_)
#define TOTAL_ANALOG_PINS NUM_ANALOG_INPUTS
#define TOTAL_PINS NUM_DIGITAL_PINS // 15 digital (including ATN pin) + 6 analog
#define VERSION_BLINK_PIN LED_BUILTIN
#define PIN_SERIAL1_RX 0
#define PIN_SERIAL1_TX 1
#define IS_PIN_DIGITAL(p) ((p) >= 0 && (p) <= 20)
#define IS_PIN_ANALOG(p) ((p) >= 14 && (p) < 14 + TOTAL_ANALOG_PINS)
#define IS_PIN_PWM(p) digitalPinHasPWM(p) // 3, 5, 6, 9
#define IS_PIN_SERVO(p) (IS_PIN_DIGITAL(p) && (p) < MAX_SERVOS) // deprecated since v2.4
#define IS_PIN_I2C(p) ((p) == SDA || (p) == SCL) // SDA = 18, SCL = 19
#define IS_PIN_SPI(p) ((p) == SS || (p) == MOSI || (p) == MISO || (p) == SCK)
#define IS_PIN_SERIAL(p) ((p) == 0 || (p) == 1)
#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) // deprecated since v2.4
// 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 PIN_SERIAL1_RX 2
#define PIN_SERIAL1_TX 3
#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 IS_PIN_SERIAL(p) ((p) == 2 || (p) == 3)
#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 PIN_SERIAL1_RX 7
#define PIN_SERIAL1_TX 8
#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 IS_PIN_SERIAL(p) ((p) == 7 || (p) == 8)
#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 3.5 and 3.6
// reference: https://github.com/PaulStoffregen/cores/blob/master/teensy3/pins_arduino.h
#elif defined(__MK64FX512__) || defined(__MK66FX1M0__)
#define TOTAL_ANALOG_PINS 27 // 3.5 has 27 and 3.6 has 25
#define TOTAL_PINS 70 // 43 digital + 21 analog-digital + 6 analog (64-69)
#define VERSION_BLINK_PIN 13
#define PIN_SERIAL1_RX 0
#define PIN_SERIAL1_TX 1
#define PIN_SERIAL2_RX 9
#define PIN_SERIAL2_TX 10
#define PIN_SERIAL3_RX 7
#define PIN_SERIAL3_TX 8
#define PIN_SERIAL4_RX 31
#define PIN_SERIAL4_TX 32
#define PIN_SERIAL5_RX 34
#define PIN_SERIAL5_TX 33
#define PIN_SERIAL6_RX 47
#define PIN_SERIAL6_TX 48
#define IS_PIN_DIGITAL(p) ((p) >= 0 && (p) <= 63)
#define IS_PIN_ANALOG(p) (((p) >= 14 && (p) <= 23) || ((p) >= 31 && (p) <= 39) || ((p) >= 49 && (p) <= 50) || ((p) >= 64 && (p) <= 69))
#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 IS_PIN_SERIAL(p) (((p) > 6 && (p) < 11) || ((p) == 0 || (p) == 1) || ((p) > 30 && (p) < 35) || ((p) == 47 || (p) == 48))
#define PIN_TO_DIGITAL(p) (p)
// A0-A9 = D14-D23; A12-A20 = D31-D39; A23-A24 = D49-D50; A10-A11 = D64-D65; A21-A22 = D66-D67; A25-A26 = D68-D69
#define PIN_TO_ANALOG(p) (((p) <= 23) ? (p) - 14 : (((p) <= 39) ? (p) - 19 : (((p) <= 50) ? (p) - 26 : (((p) <= 65) ? (p) - 55 : (((p) <= 67) ? (p) - 45 : (p) - 43)))))
#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p)
#define PIN_TO_SERVO(p) (p)
// Teensy 3.0, 3.1 and 3.2
#elif defined(__MK20DX128__) || defined(__MK20DX256__)
#define TOTAL_ANALOG_PINS 14
#define TOTAL_PINS 38 // 24 digital + 10 analog-digital + 4 analog
#define VERSION_BLINK_PIN 13
#define PIN_SERIAL1_RX 0
#define PIN_SERIAL1_TX 1
#define PIN_SERIAL2_RX 9
#define PIN_SERIAL2_TX 10
#define PIN_SERIAL3_RX 7
#define PIN_SERIAL3_TX 8
#define IS_PIN_DIGITAL(p) ((p) >= 0 && (p) <= 33)
#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 IS_PIN_SERIAL(p) (((p) > 6 && (p) < 11) || ((p) == 0 || (p) == 1))
#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-LC
#elif defined(__MKL26Z64__)
#define TOTAL_ANALOG_PINS 13
#define TOTAL_PINS 27 // 27 digital + 13 analog-digital
#define VERSION_BLINK_PIN 13
#define PIN_SERIAL1_RX 0
#define PIN_SERIAL1_TX 1
#define PIN_SERIAL2_RX 9
#define PIN_SERIAL2_TX 10
#define PIN_SERIAL3_RX 7
#define PIN_SERIAL3_TX 8
#define IS_PIN_DIGITAL(p) ((p) >= 0 && (p) <= 26)
#define IS_PIN_ANALOG(p) ((p) >= 14)
#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 IS_PIN_SERIAL(p) (((p) > 6 && (p) < 11) || ((p) == 0 || (p) == 1))
#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)
// 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 PIN_SERIAL1_RX 2
#define PIN_SERIAL1_TX 3
#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 IS_PIN_SERIAL(p) ((p) == 2 || (p) == 3)
#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 PIN_SERIAL1_RX 0
#define PIN_SERIAL1_TX 1
#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 IS_PIN_SERIAL(p) ((p) == 0 || (p) == 1)
#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)
// Intel Galileo Board (gen 1 and 2) and Intel Edison
#elif defined(ARDUINO_LINUX)
#define TOTAL_ANALOG_PINS 6
#define TOTAL_PINS 20 // 14 digital + 6 analog
#define VERSION_BLINK_PIN 13
#define PIN_SERIAL1_RX 0
#define PIN_SERIAL1_TX 1
#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) == SDA || (p) == SCL)
#define IS_PIN_SPI(p) ((p) == SS || (p) == MOSI || (p) == MISO || (p) == SCK)
#define IS_PIN_SERIAL(p) ((p) == 0 || (p) == 1)
#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)
// RedBearLab BLE Nano with factory switch settings (S1 - S10)
#elif defined(BLE_NANO)
#define TOTAL_ANALOG_PINS 6
#define TOTAL_PINS 15 // 9 digital + 3 analog
#define IS_PIN_DIGITAL(p) ((p) >= 2 && (p) <= 14)
#define IS_PIN_ANALOG(p) ((p) == 8 || (p) == 9 || (p) == 10 || (p) == 11 || (p) == 12 || (p) == 14) //A0~A5
#define IS_PIN_PWM(p) ((p) == 3 || (p) == 5 || (p) == 6)
#define IS_PIN_SERVO(p) ((p) >= 2 && (p) <= 7)
#define IS_PIN_I2C(p) ((p) == SDA || (p) == SCL)
#define IS_PIN_SPI(p) ((p) == CS || (p) == MOSI || (p) == MISO || (p) == SCK)
#define PIN_TO_DIGITAL(p) (p)
#define PIN_TO_ANALOG(p) ((p) - 8)
#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)
// Pic32 chipKIT FubarinoSD
#elif defined(_BOARD_FUBARINO_SD_)
#define TOTAL_ANALOG_PINS NUM_ANALOG_PINS // 15
#define TOTAL_PINS NUM_DIGITAL_PINS // 45, All pins can be digital
#define MAX_SERVOS NUM_DIGITAL_PINS
#define VERSION_BLINK_PIN PIN_LED1
#define IS_PIN_DIGITAL(p) 1
#define IS_PIN_ANALOG(p) ((p) >= 30 && (p) <= 44)
#define IS_PIN_PWM(p) IS_PIN_DIGITAL(p)
#define IS_PIN_SERVO(p) IS_PIN_DIGITAL(p)
#define IS_PIN_I2C(p) ((p) == 1 || (p) == 2)
#define IS_PIN_SPI(p) ((p) == SS || (p) == MOSI || (p) == MISO || (p) == SCK)
#define PIN_TO_DIGITAL(p) (p)
#define PIN_TO_ANALOG(p) (14 - (p - 30))
#define PIN_TO_PWM(p) (p)
#define PIN_TO_SERVO(p) (p)
// Pic32 chipKIT FubarinoMini
// Note, FubarinoMini analog pin 20 will not function in Firmata as analog input due to limitation in analog mapping
#elif defined(_BOARD_FUBARINO_MINI_)
#define TOTAL_ANALOG_PINS 14 // We have to fake this because of the poor analog pin mapping planning in FubarinoMini
#define TOTAL_PINS NUM_DIGITAL_PINS // 33
#define MAX_SERVOS NUM_DIGITAL_PINS
#define VERSION_BLINK_PIN PIN_LED1
#define IS_PIN_DIGITAL(p) ((p) != 14 && (p) != 15 && (p) != 31 && (p) != 32)
#define IS_PIN_ANALOG(p) ((p) == 0 || ((p) >= 3 && (p) <= 13))
#define IS_PIN_PWM(p) IS_PIN_DIGITAL(p)
#define IS_PIN_SERVO(p) IS_PIN_DIGITAL(p)
#define IS_PIN_I2C(p) ((p) == 25 || (p) == 26)
#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)
#define PIN_TO_PWM(p) (p)
#define PIN_TO_SERVO(p) (p)
// Pic32 chipKIT UNO32
#elif defined(_BOARD_UNO_) && defined(__PIC32) // NOTE: no _BOARD_UNO32_ to use
#define TOTAL_ANALOG_PINS NUM_ANALOG_PINS // 12
#define TOTAL_PINS NUM_DIGITAL_PINS // 47 All pins can be digital
#define MAX_SERVOS NUM_DIGITAL_PINS // All pins can be servo with SoftPWMservo
#define VERSION_BLINK_PIN PIN_LED1
#define IS_PIN_DIGITAL(p) ((p) >= 2)
#define IS_PIN_ANALOG(p) ((p) >= 14 && (p) <= 25)
#define IS_PIN_PWM(p) IS_PIN_DIGITAL(p)
#define IS_PIN_SERVO(p) IS_PIN_DIGITAL(p)
#define IS_PIN_I2C(p) ((p) == 45 || (p) == 46)
#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) (p)
#define PIN_TO_SERVO(p) (p)
// Pic32 chipKIT DP32
#elif defined(_BOARD_DP32_)
#define TOTAL_ANALOG_PINS 15 // Really only has 9, but have to override because of mistake in variant file
#define TOTAL_PINS NUM_DIGITAL_PINS // 19
#define MAX_SERVOS NUM_DIGITAL_PINS // All pins can be servo with SoftPWMservo
#define VERSION_BLINK_PIN PIN_LED1
#define IS_PIN_DIGITAL(p) (((p) != 1) && ((p) != 4) && ((p) != 5) && ((p) != 15) && ((p) != 16))
#define IS_PIN_ANALOG(p) ((p) >= 6 && (p) <= 14)
#define IS_PIN_PWM(p) IS_PIN_DIGITAL(p)
#define IS_PIN_SERVO(p) IS_PIN_DIGITAL(p)
#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)
#define PIN_TO_PWM(p) (p)
#define PIN_TO_SERVO(p) (p)
// Pic32 chipKIT uC32
#elif defined(_BOARD_UC32_)
#define TOTAL_ANALOG_PINS NUM_ANALOG_PINS // 12
#define TOTAL_PINS NUM_DIGITAL_PINS // 47 All pins can be digital
#define MAX_SERVOS NUM_DIGITAL_PINS // All pins can be servo with SoftPWMservo
#define VERSION_BLINK_PIN PIN_LED1
#define IS_PIN_DIGITAL(p) ((p) >= 2)
#define IS_PIN_ANALOG(p) ((p) >= 14 && (p) <= 25)
#define IS_PIN_PWM(p) IS_PIN_DIGITAL(p)
#define IS_PIN_SERVO(p) IS_PIN_DIGITAL(p)
#define IS_PIN_I2C(p) ((p) == 45 || (p) == 46)
#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) (p)
#define PIN_TO_SERVO(p) (p)
// Pic32 chipKIT WF32
#elif defined(_BOARD_WF32_)
#define TOTAL_ANALOG_PINS NUM_ANALOG_PINS
#define TOTAL_PINS NUM_DIGITAL_PINS
#define MAX_SERVOS NUM_DIGITAL_PINS
#define VERSION_BLINK_PIN PIN_LED1
#define IS_PIN_DIGITAL(p) ((p) >= 2 && (p) <= 49) // Accounts for SD and WiFi dedicated pins
#define IS_PIN_ANALOG(p) ((p) >= 14 && (p) <= 25)
#define IS_PIN_PWM(p) IS_PIN_DIGITAL(p)
#define IS_PIN_SERVO(p) IS_PIN_DIGITAL(p)
#define IS_PIN_I2C(p) ((p) == 34 || (p) == 35)
#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) (p)
#define PIN_TO_SERVO(p) (p)
// Pic32 chipKIT WiFire
#elif defined(_BOARD_WIFIRE_)
#define TOTAL_ANALOG_PINS NUM_ANALOG_PINS // 14
#define TOTAL_PINS NUM_DIGITAL_PINS // 71
#define MAX_SERVOS NUM_DIGITAL_PINS
#define VERSION_BLINK_PIN PIN_LED1
#define IS_PIN_DIGITAL(p) ((p) >= 2 && (p) <= 47) // Accounts for SD and WiFi dedicated pins
#define IS_PIN_ANALOG(p) ((p) >= 14 && (p) <= 25)
#define IS_PIN_PWM(p) IS_PIN_DIGITAL(p)
#define IS_PIN_SERVO(p) IS_PIN_DIGITAL(p)
#define IS_PIN_I2C(p) ((p) == 34 || (p) == 35)
#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) <= 25 ? ((p) - 14) : (p) - 36)
#define PIN_TO_PWM(p) (p)
#define PIN_TO_SERVO(p) (p)
// Pic32 chipKIT MAX32
#elif defined(_BOARD_MEGA_) && defined(__PIC32) // NOTE: no _BOARD_MAX32_ to use
#define TOTAL_ANALOG_PINS NUM_ANALOG_PINS // 16
#define TOTAL_PINS NUM_DIGITAL_PINS // 87
#define MAX_SERVOS NUM_DIGITAL_PINS
#define VERSION_BLINK_PIN PIN_LED1
#define IS_PIN_DIGITAL(p) ((p) >= 2)
#define IS_PIN_ANALOG(p) ((p) >= 54 && (p) <= 69)
#define IS_PIN_PWM(p) IS_PIN_DIGITAL(p)
#define IS_PIN_SERVO(p) IS_PIN_DIGITAL(p)
#define IS_PIN_I2C(p) ((p) == 34 || (p) == 35)
#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) (p)
#define PIN_TO_SERVO(p) (p)
// Pic32 chipKIT Pi
#elif defined(_BOARD_CHIPKIT_PI_)
#define TOTAL_ANALOG_PINS 16
#define TOTAL_PINS NUM_DIGITAL_PINS // 19
#define MAX_SERVOS NUM_DIGITAL_PINS
#define VERSION_BLINK_PIN PIN_LED1
#define IS_PIN_DIGITAL(p) (((p) >= 2) && ((p) <= 3) || (((p) >= 8) && ((p) <= 13)) || (((p) >= 14) && ((p) <= 17)))
#define IS_PIN_ANALOG(p) ((p) >= 14 && (p) <= 17)
#define IS_PIN_PWM(p) IS_PIN_DIGITAL(p)
#define IS_PIN_SERVO(p) IS_PIN_DIGITAL(p)
#define IS_PIN_I2C(p) ((p) == 16 || (p) == 17)
#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) <= 15 ? (p) - 14 : (p) - 12)
//#define PIN_TO_ANALOG(p) (((p) <= 16) ? ((p) - 14) : ((p) - 16))
#define PIN_TO_PWM(p) (p)
#define PIN_TO_SERVO(p) (p)
// Pinoccio Scout
// Note: digital pins 9-16 are usable but not labeled on the board numerically.
// SS=9, MOSI=10, MISO=11, SCK=12, RX1=13, TX1=14, SCL=15, SDA=16
#elif defined(ARDUINO_PINOCCIO)
#define TOTAL_ANALOG_PINS 8
#define TOTAL_PINS NUM_DIGITAL_PINS // 32
#define VERSION_BLINK_PIN 23
#define PIN_SERIAL1_RX 13
#define PIN_SERIAL1_TX 14
#define IS_PIN_DIGITAL(p) (((p) >= 2) && ((p) <= 16)) || (((p) >= 24) && ((p) <= 31))
#define IS_PIN_ANALOG(p) ((p) >= 24 && (p) <= 31)
#define IS_PIN_PWM(p) digitalPinHasPWM(p)
#define IS_PIN_SERVO(p) IS_PIN_DIGITAL(p)
#define IS_PIN_I2C(p) ((p) == SCL || (p) == SDA)
#define IS_PIN_SPI(p) ((p) == SS || (p) == MOSI || (p) == MISO || (p) == SCK)
#define IS_PIN_SERIAL(p) ((p) == 13 || (p) == 14)
#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)
// ESP8266
// note: boot mode GPIOs 0, 2 and 15 can be used as outputs, GPIOs 6-11 are in use for flash IO
#elif defined(ESP8266)
#define TOTAL_ANALOG_PINS NUM_ANALOG_INPUTS
#define TOTAL_PINS A0 + NUM_ANALOG_INPUTS
#define PIN_SERIAL_RX 3
#define PIN_SERIAL_TX 1
#define IS_PIN_DIGITAL(p) (((p) >= 0 && (p) <= 5) || ((p) >= 12 && (p) < A0))
#define IS_PIN_ANALOG(p) ((p) >= A0 && (p) < A0 + NUM_ANALOG_INPUTS)
#define IS_PIN_PWM(p) digitalPinHasPWM(p)
#define IS_PIN_SERVO(p) (IS_PIN_DIGITAL(p) && (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 IS_PIN_INTERRUPT(p) (digitalPinToInterrupt(p) > NOT_AN_INTERRUPT)
#define IS_PIN_SERIAL(p) ((p) == PIN_SERIAL_RX || (p) == PIN_SERIAL_TX)
#define PIN_TO_DIGITAL(p) (p)
#define PIN_TO_ANALOG(p) ((p) - A0)
#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p)
#define PIN_TO_SERVO(p) (p)
#define DEFAULT_PWM_RESOLUTION 10
// STM32 based boards
#elif defined(ARDUINO_ARCH_STM32)
#define TOTAL_ANALOG_PINS NUM_ANALOG_INPUTS
#define TOTAL_PINS NUM_DIGITAL_PINS
#define TOTAL_PORTS MAX_NB_PORT
#define VERSION_BLINK_PIN LED_BUILTIN
// PIN_SERIALY_RX/TX defined in the variant.h
#define IS_PIN_DIGITAL(p) (digitalPinIsValid(p) && !pinIsSerial(p))
#define IS_PIN_ANALOG(p) ((p >= A0) && (p < (A0 + TOTAL_ANALOG_PINS)) && !pinIsSerial(p))
#define IS_PIN_PWM(p) (IS_PIN_DIGITAL(p) && digitalPinHasPWM(p))
#define IS_PIN_SERVO(p) IS_PIN_DIGITAL(p)
#define IS_PIN_I2C(p) (IS_PIN_DIGITAL(p) && digitalPinHasI2C(p))
#define IS_PIN_SPI(p) (IS_PIN_DIGITAL(p) && digitalPinHasSPI(p))
#define IS_PIN_INTERRUPT(p) (IS_PIN_DIGITAL(p) && (digitalPinToInterrupt(p) > NOT_AN_INTERRUPT)))
#define IS_PIN_SERIAL(p) (digitalPinHasSerial(p) && !pinIsSerial(p))
#define PIN_TO_DIGITAL(p) (p)
#define PIN_TO_ANALOG(p) (p-A0)
#define PIN_TO_PWM(p) (p)
#define PIN_TO_SERVO(p) (p)
#define DEFAULT_PWM_RESOLUTION PWM_RESOLUTION
// Adafruit Bluefruit nRF52 boards
#elif defined(ARDUINO_NRF52_ADAFRUIT)
#define TOTAL_ANALOG_PINS NUM_ANALOG_INPUTS
#define TOTAL_PINS 32
#define VERSION_BLINK_PIN LED_BUILTIN
#define IS_PIN_DIGITAL(p) ((p) >= 2 && (p) < TOTAL_PINS)
#define IS_PIN_ANALOG(p) ((p) == PIN_A0 || (p) == PIN_A1 || (p) == PIN_A2 || (p) == PIN_A3 || \
(p) == PIN_A4 || (p) == PIN_A5 || (p) == PIN_A6 || (p) == PIN_A7)
#define IS_PIN_PWM(p) digitalPinHasPWM(p)
#define IS_PIN_SERVO(p) IS_PIN_DIGITAL(p)
#define IS_PIN_I2C(p) ((p) == PIN_WIRE_SDA || (p) == PIN_WIRE_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) == PIN_A0) ? 0 : ((p) == PIN_A1) ? 1 : ((p) == PIN_A2) ? 2 : ((p) == PIN_A3) ? 3 : \
((p) == PIN_A4) ? 4 : ((p) == PIN_A5) ? 5 : ((p) == PIN_A6) ? 6 : ((p) == PIN_A7) ? 7 : (127))
#define PIN_TO_PWM(p) (p)
#define PIN_TO_SERVO(p) (p)
// 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
#define IS_PIN_SPI(p) 0
#endif
#ifndef IS_PIN_SERIAL
#define IS_PIN_SERIAL(p) 0
#endif
#ifndef DEFAULT_PWM_RESOLUTION
#define DEFAULT_PWM_RESOLUTION 8
#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();
}
return 1;
#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));
return 1;
#endif
}
#ifndef TOTAL_PORTS
#define TOTAL_PORTS ((TOTAL_PINS + 7) / 8)
#endif
#endif /* Firmata_Boards_h */

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/*
Firmata.cpp - Firmata library v2.5.8 - 2018-04-15
Copyright (c) 2006-2008 Hans-Christoph Steiner. All rights reserved.
Copyright (C) 2009-2017 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.
*/
//******************************************************************************
//* Includes
//******************************************************************************
#include "Firmata.h"
#include "HardwareSerial.h"
#include <string.h>
#include <stdlib.h>
using namespace firmata;
//******************************************************************************
//* Static Members
//******************************************************************************
// make one instance for the user to use
FirmataClass Firmata;
/* callback functions */
callbackFunction FirmataClass::currentAnalogCallback = (callbackFunction)NULL;
callbackFunction FirmataClass::currentDigitalCallback = (callbackFunction)NULL;
callbackFunction FirmataClass::currentPinModeCallback = (callbackFunction)NULL;
callbackFunction FirmataClass::currentPinValueCallback = (callbackFunction)NULL;
callbackFunction FirmataClass::currentReportAnalogCallback = (callbackFunction)NULL;
callbackFunction FirmataClass::currentReportDigitalCallback = (callbackFunction)NULL;
stringCallbackFunction FirmataClass::currentStringCallback = (stringCallbackFunction)NULL;
sysexCallbackFunction FirmataClass::currentSysexCallback = (sysexCallbackFunction)NULL;
systemCallbackFunction FirmataClass::currentSystemResetCallback = (systemCallbackFunction)NULL;
//******************************************************************************
//* Support Functions
//******************************************************************************
/**
* Split a 16-bit byte into two 7-bit values and write each value.
* @param value The 16-bit value to be split and written separately.
*/
void FirmataClass::sendValueAsTwo7bitBytes(int value)
{
marshaller.encodeByteStream(sizeof(value), reinterpret_cast<uint8_t *>(&value), sizeof(value));
}
/**
* A helper method to write the beginning of a Sysex message transmission.
*/
void FirmataClass::startSysex(void)
{
FirmataStream->write(START_SYSEX);
}
/**
* A helper method to write the end of a Sysex message transmission.
*/
void FirmataClass::endSysex(void)
{
FirmataStream->write(END_SYSEX);
}
//******************************************************************************
//* Constructors
//******************************************************************************
/**
* The Firmata class.
* An instance named "Firmata" is created automatically for the user.
*/
FirmataClass::FirmataClass()
:
parser(FirmataParser(parserBuffer, MAX_DATA_BYTES))
{
firmwareVersionCount = 0;
firmwareVersionVector = 0;
blinkVersionDisabled = false;
// Establish callback translation to parser callbacks
parser.attach(ANALOG_MESSAGE, (FirmataParser::callbackFunction)staticAnalogCallback, (void *)NULL);
parser.attach(DIGITAL_MESSAGE, (FirmataParser::callbackFunction)staticDigitalCallback, (void *)NULL);
parser.attach(REPORT_ANALOG, (FirmataParser::callbackFunction)staticReportAnalogCallback, (void *)NULL);
parser.attach(REPORT_DIGITAL, (FirmataParser::callbackFunction)staticReportDigitalCallback, (void *)NULL);
parser.attach(SET_PIN_MODE, (FirmataParser::callbackFunction)staticPinModeCallback, (void *)NULL);
parser.attach(SET_DIGITAL_PIN_VALUE, (FirmataParser::callbackFunction)staticPinValueCallback, (void *)NULL);
parser.attach(STRING_DATA, (FirmataParser::stringCallbackFunction)staticStringCallback, (void *)NULL);
parser.attach(START_SYSEX, (FirmataParser::sysexCallbackFunction)staticSysexCallback, (void *)NULL);
parser.attach(REPORT_FIRMWARE, (FirmataParser::versionCallbackFunction)staticReportFirmwareCallback, this);
parser.attach(REPORT_VERSION, (FirmataParser::systemCallbackFunction)staticReportVersionCallback, this);
parser.attach(SYSTEM_RESET, (FirmataParser::systemCallbackFunction)staticSystemResetCallback, (void *)NULL);
}
//******************************************************************************
//* Public Methods
//******************************************************************************
/**
* Initialize the default Serial transport at the default baud of 57600.
*/
void FirmataClass::begin(void)
{
begin(57600);
}
/**
* Initialize the default Serial transport and override the default baud.
* Sends the protocol version to the host application followed by the firmware version and name.
* blinkVersion is also called. To skip the call to blinkVersion, call Firmata.disableBlinkVersion()
* before calling Firmata.begin(baud).
* @param speed The baud to use. 57600 baud is the default value.
*/
void FirmataClass::begin(long speed)
{
Serial.begin(speed);
blinkVersion();
begin(Serial);
}
/**
* Reassign the Firmata stream transport.
* @param s A reference to the Stream transport object. This can be any type of
* transport that implements the Stream interface. Some examples include Ethernet, WiFi
* and other UARTs on the board (Serial1, Serial2, etc).
*/
void FirmataClass::begin(Stream &s)
{
FirmataStream = &s;
marshaller.begin(s);
// do not call blinkVersion() here because some hardware such as the
// Ethernet shield use pin 13
printVersion(); // send the protocol version
printFirmwareVersion(); // send the firmware name and version
}
/**
* Send the Firmata protocol version to the Firmata host application.
*/
void FirmataClass::printVersion(void)
{
marshaller.sendVersion(FIRMATA_PROTOCOL_MAJOR_VERSION, FIRMATA_PROTOCOL_MINOR_VERSION);
}
/**
* Blink the Firmata protocol version to the onboard LEDs (if the board has an onboard LED).
* If VERSION_BLINK_PIN is not defined in Boards.h for a particular board, then this method
* does nothing.
* The first series of flashes indicates the firmware major version (2 flashes = 2).
* The second series of flashes indicates the firmware minor version (5 flashes = 5).
*/
void FirmataClass::blinkVersion(void)
{
#if defined(VERSION_BLINK_PIN)
if (blinkVersionDisabled) return;
// flash the pin with the protocol version
pinMode(VERSION_BLINK_PIN, OUTPUT);
strobeBlinkPin(VERSION_BLINK_PIN, FIRMATA_FIRMWARE_MAJOR_VERSION, 40, 210);
delay(250);
strobeBlinkPin(VERSION_BLINK_PIN, FIRMATA_FIRMWARE_MINOR_VERSION, 40, 210);
delay(125);
#endif
}
/**
* Provides a means to disable the version blink sequence on the onboard LED, trimming startup
* time by a couple of seconds.
* Call this before Firmata.begin(). It only applies when using the default Serial transport.
*/
void FirmataClass::disableBlinkVersion()
{
blinkVersionDisabled = true;
}
/**
* Sends the firmware name and version to the Firmata host application. The major and minor version
* numbers are the first 2 bytes in the message. The following bytes are the characters of the
* firmware name.
*/
void FirmataClass::printFirmwareVersion(void)
{
if (firmwareVersionCount) { // make sure that the name has been set before reporting
marshaller.sendFirmwareVersion(static_cast<uint8_t>(firmwareVersionVector[0]), static_cast<uint8_t>(firmwareVersionVector[1]), (firmwareVersionCount - 2), reinterpret_cast<uint8_t *>(&firmwareVersionVector[2]));
}
}
/**
* Sets the name and version of the firmware. This is not the same version as the Firmata protocol
* (although at times the firmware version and protocol version may be the same number).
* @param name A pointer to the name char array
* @param major The major version number
* @param minor The minor version number
*/
void FirmataClass::setFirmwareNameAndVersion(const char *name, byte major, byte minor)
{
const char *firmwareName;
const char *extension;
// parse out ".cpp" and "applet/" that comes from using __FILE__
extension = strstr(name, ".cpp");
firmwareName = strrchr(name, '/');
if (!firmwareName) {
// windows
firmwareName = strrchr(name, '\\');
}
if (!firmwareName) {
// user passed firmware name
firmwareName = name;
} else {
firmwareName ++;
}
if (!extension) {
firmwareVersionCount = strlen(firmwareName) + 2;
} else {
firmwareVersionCount = extension - firmwareName + 2;
}
// in case anyone calls setFirmwareNameAndVersion more than once
free(firmwareVersionVector);
firmwareVersionVector = (byte *) malloc(firmwareVersionCount + 1);
firmwareVersionVector[firmwareVersionCount] = 0;
firmwareVersionVector[0] = major;
firmwareVersionVector[1] = minor;
strncpy((char *)firmwareVersionVector + 2, firmwareName, firmwareVersionCount - 2);
}
//------------------------------------------------------------------------------
// Serial Receive Handling
/**
* A wrapper for Stream::available()
* @return The number of bytes remaining in the input stream buffer.
*/
int FirmataClass::available(void)
{
return FirmataStream->available();
}
/**
* Read a single int from the input stream. If the value is not = -1, pass it on to parse(byte)
*/
void FirmataClass::processInput(void)
{
int inputData = FirmataStream->read(); // this is 'int' to handle -1 when no data
if (inputData != -1) {
parser.parse(inputData);
}
}
/**
* Parse data from the input stream.
* @param inputData A single byte to be added to the parser.
*/
void FirmataClass::parse(byte inputData)
{
parser.parse(inputData);
}
/**
* @return Returns true if the parser is actively parsing data.
*/
boolean FirmataClass::isParsingMessage(void)
{
return parser.isParsingMessage();
}
//------------------------------------------------------------------------------
// Output Stream Handling
/**
* Send an analog message to the Firmata host application. The range of pins is limited to [0..15]
* when using the ANALOG_MESSAGE. The maximum value of the ANALOG_MESSAGE is limited to 14 bits
* (16384). To increase the pin range or value, see the documentation for the EXTENDED_ANALOG
* message.
* @param pin The analog pin to send the value of (limited to pins 0 - 15).
* @param value The value of the analog pin (0 - 1024 for 10-bit analog, 0 - 4096 for 12-bit, etc).
* The maximum value is 14-bits (16384).
*/
void FirmataClass::sendAnalog(byte pin, int value)
{
marshaller.sendAnalog(pin, value);
}
/* (intentionally left out asterix here)
* STUB - NOT IMPLEMENTED
* Send a single digital pin value to the Firmata host application.
* @param pin The digital pin to send the value of.
* @param value The value of the pin.
*/
void FirmataClass::sendDigital(byte pin, int value)
{
(void)pin;
(void)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.
*/
// 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 an 8-bit port in a single digital message (protocol v2 and later).
* Send 14-bits in a single digital message (protocol v1).
* @param portNumber The port number to send. Note that this is not the same as a "port" on the
* physical microcontroller. Ports are defined in order per every 8 pins in ascending order
* of the Arduino digital pin numbering scheme. Port 0 = pins D0 - D7, port 1 = pins D8 - D15, etc.
* @param portData The value of the port. The value of each pin in the port is represented by a bit.
*/
void FirmataClass::sendDigitalPort(byte portNumber, int portData)
{
marshaller.sendDigitalPort(portNumber, portData);
}
/**
* Send a sysex message where all values after the command byte are packet as 2 7-bit bytes
* (this is not always the case so this function is not always used to send sysex messages).
* @param command The sysex command byte.
* @param bytec The number of data bytes in the message (excludes start, command and end bytes).
* @param bytev A pointer to the array of data bytes to send in the message.
*/
void FirmataClass::sendSysex(byte command, byte bytec, byte *bytev)
{
marshaller.sendSysex(command, bytec, bytev);
}
/**
* Send a string to the Firmata host application.
* @param command Must be STRING_DATA
* @param string A pointer to the char string
*/
void FirmataClass::sendString(byte command, const char *string)
{
if (command == STRING_DATA) {
marshaller.sendString(string);
}
}
/**
* Send a string to the Firmata host application.
* @param string A pointer to the char string
*/
void FirmataClass::sendString(const char *string)
{
marshaller.sendString(string);
}
/**
* A wrapper for Stream::available().
* Write a single byte to the output stream.
* @param c The byte to be written.
*/
void FirmataClass::write(byte c)
{
FirmataStream->write(c);
}
/**
* Attach a generic sysex callback function to a command (options are: ANALOG_MESSAGE,
* DIGITAL_MESSAGE, REPORT_ANALOG, REPORT DIGITAL, SET_PIN_MODE and SET_DIGITAL_PIN_VALUE).
* @param command The ID of the command to attach a callback function to.
* @param newFunction A reference to the callback function to attach.
*/
void FirmataClass::attach(uint8_t 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;
case SET_DIGITAL_PIN_VALUE:
currentPinValueCallback = newFunction;
break;
}
}
/**
* Attach a callback function for the SYSTEM_RESET command.
* @param command Must be set to SYSTEM_RESET or it will be ignored.
* @param newFunction A reference to the system reset callback function to attach.
*/
void FirmataClass::attach(uint8_t command, systemCallbackFunction newFunction)
{
switch (command) {
case SYSTEM_RESET:
currentSystemResetCallback = newFunction;
break;
}
}
/**
* Attach a callback function for the STRING_DATA command.
* @param command Must be set to STRING_DATA or it will be ignored.
* @param newFunction A reference to the string callback function to attach.
*/
void FirmataClass::attach(uint8_t command, stringCallbackFunction newFunction)
{
switch (command) {
case STRING_DATA:
currentStringCallback = newFunction;
break;
}
}
/**
* Attach a generic sysex callback function to sysex command.
* @param command The ID of the command to attach a callback function to.
* @param newFunction A reference to the sysex callback function to attach.
*/
void FirmataClass::attach(uint8_t command, sysexCallbackFunction newFunction)
{
(void)command;
currentSysexCallback = newFunction;
}
/**
* Detach a callback function for a specified command (such as SYSTEM_RESET, STRING_DATA,
* ANALOG_MESSAGE, DIGITAL_MESSAGE, etc).
* @param command The ID of the command to detatch the callback function from.
*/
void FirmataClass::detach(uint8_t command)
{
switch (command) {
case SYSTEM_RESET:
attach(command, (systemCallbackFunction)NULL);
break;
case STRING_DATA:
attach(command, (stringCallbackFunction)NULL);
break;
case START_SYSEX:
attach(command, (sysexCallbackFunction)NULL);
break;
default:
attach(command, (callbackFunction)NULL);
break;
}
}
/**
* @param pin The pin to get the configuration of.
* @return The configuration of the specified pin.
*/
byte FirmataClass::getPinMode(byte pin)
{
return pinConfig[pin];
}
/**
* Set the pin mode/configuration. The pin configuration (or mode) in Firmata represents the
* current function of the pin. Examples are digital input or output, analog input, pwm, i2c,
* serial (uart), etc.
* @param pin The pin to configure.
* @param config The configuration value for the specified pin.
*/
void FirmataClass::setPinMode(byte pin, byte config)
{
if (pinConfig[pin] == PIN_MODE_IGNORE)
return;
pinConfig[pin] = config;
}
/**
* @param pin The pin to get the state of.
* @return The state of the specified pin.
*/
int FirmataClass::getPinState(byte pin)
{
return pinState[pin];
}
/**
* Set the pin state. The pin state of an output pin is the pin value. The state of an
* input pin is 0, unless the pin has it's internal pull up resistor enabled, then the value is 1.
* @param pin The pin to set the state of
* @param state Set the state of the specified pin
*/
void FirmataClass::setPinState(byte pin, int state)
{
pinState[pin] = state;
}
// 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
//******************************************************************************
/**
* Flashing the pin for the version number
* @private
* @param pin The pin the LED is attached to.
* @param count The number of times to flash the LED.
* @param onInterval The number of milliseconds for the LED to be ON during each interval.
* @param offInterval The number of milliseconds for the LED to be OFF during each interval.
*/
void FirmataClass::strobeBlinkPin(byte pin, int count, int onInterval, int offInterval)
{
byte i;
for (i = 0; i < count; i++) {
delay(offInterval);
digitalWrite(pin, HIGH);
delay(onInterval);
digitalWrite(pin, LOW);
}
}

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/*
Firmata.h - Firmata library v2.5.8 - 2018-04-15
Copyright (c) 2006-2008 Hans-Christoph Steiner. All rights reserved.
Copyright (C) 2009-2017 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.
*/
#ifndef Firmata_h
#define Firmata_h
#include "Boards.h" /* Hardware Abstraction Layer + Wiring/Arduino */
#include "FirmataDefines.h"
#include "FirmataMarshaller.h"
#include "FirmataParser.h"
/* DEPRECATED as of Firmata v2.5.1. As of 2.5.1 there are separate version numbers for
* the protocol version and the firmware version.
*/
#define FIRMATA_MAJOR_VERSION 2 // same as FIRMATA_PROTOCOL_MAJOR_VERSION
#define FIRMATA_MINOR_VERSION 5 // same as FIRMATA_PROTOCOL_MINOR_VERSION
#define FIRMATA_BUGFIX_VERSION 1 // same as FIRMATA_PROTOCOL_BUGFIX_VERSION
// extended command set using sysex (0-127/0x00-0x7F)
/* 0x00-0x0F reserved for user-defined commands */
// 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 Arduino.h
//#define OUTPUT 0x01 // defined in Arduino.h
// DEPRECATED as of Firmata v2.5
#define ANALOG 0x02 // same as PIN_MODE_ANALOG
#define PWM 0x03 // same as PIN_MODE_PWM
#define SERVO 0x04 // same as PIN_MODE_SERVO
#define SHIFT 0x05 // same as PIN_MODE_SHIFT
#define I2C 0x06 // same as PIN_MODE_I2C
#define ONEWIRE 0x07 // same as PIN_MODE_ONEWIRE
#define STEPPER 0x08 // same as PIN_MODE_STEPPER
#define ENCODER 0x09 // same as PIN_MODE_ENCODER
#define IGNORE 0x7F // same as PIN_MODE_IGNORE
namespace firmata {
// TODO make it a subclass of a generic Serial/Stream base class
class FirmataClass
{
public:
typedef void (*callbackFunction)(uint8_t, int);
typedef void (*systemCallbackFunction)(void);
typedef void (*stringCallbackFunction)(char *);
typedef void (*sysexCallbackFunction)(uint8_t command, uint8_t argc, uint8_t *argv);
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 disableBlinkVersion();
/* serial receive handling */
int available(void);
void processInput(void);
void parse(unsigned char value);
boolean isParsingMessage(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(uint8_t command, callbackFunction newFunction);
void attach(uint8_t command, systemCallbackFunction newFunction);
void attach(uint8_t command, stringCallbackFunction newFunction);
void attach(uint8_t command, sysexCallbackFunction newFunction);
void detach(uint8_t command);
/* access pin state and config */
byte getPinMode(byte pin);
void setPinMode(byte pin, byte config);
/* access pin state */
int getPinState(byte pin);
void setPinState(byte pin, int state);
/* utility methods */
void sendValueAsTwo7bitBytes(int value);
void startSysex(void);
void endSysex(void);
private:
uint8_t parserBuffer[MAX_DATA_BYTES];
FirmataMarshaller marshaller;
FirmataParser parser;
Stream *FirmataStream;
/* firmware name and version */
byte firmwareVersionCount;
byte *firmwareVersionVector;
/* pin configuration */
byte pinConfig[TOTAL_PINS];
int pinState[TOTAL_PINS];
boolean blinkVersionDisabled;
/* private methods ------------------------------ */
void strobeBlinkPin(byte pin, int count, int onInterval, int offInterval);
friend void FirmataMarshaller::encodeByteStream (size_t bytec, uint8_t * bytev, size_t max_bytes = 0) const;
/* callback functions */
static callbackFunction currentAnalogCallback;
static callbackFunction currentDigitalCallback;
static callbackFunction currentPinModeCallback;
static callbackFunction currentPinValueCallback;
static callbackFunction currentReportAnalogCallback;
static callbackFunction currentReportDigitalCallback;
static stringCallbackFunction currentStringCallback;
static sysexCallbackFunction currentSysexCallback;
static systemCallbackFunction currentSystemResetCallback;
/* static callbacks */
inline static void staticAnalogCallback (void *, uint8_t command, uint16_t value) { if ( currentAnalogCallback ) { currentAnalogCallback(command,(int)value); } }
inline static void staticDigitalCallback (void *, uint8_t command, uint16_t value) { if ( currentDigitalCallback ) { currentDigitalCallback(command, (int)value); } }
inline static void staticPinModeCallback (void *, uint8_t command, uint16_t value) { if ( currentPinModeCallback ) { currentPinModeCallback(command, (int)value); } }
inline static void staticPinValueCallback (void *, uint8_t command, uint16_t value) { if ( currentPinValueCallback ) { currentPinValueCallback(command, (int)value); } }
inline static void staticReportAnalogCallback (void *, uint8_t command, uint16_t value) { if ( currentReportAnalogCallback ) { currentReportAnalogCallback(command, (int)value); } }
inline static void staticReportDigitalCallback (void *, uint8_t command, uint16_t value) { if ( currentReportDigitalCallback ) { currentReportDigitalCallback(command, (int)value); } }
inline static void staticStringCallback (void *, const char * c_str) { if ( currentStringCallback ) { currentStringCallback((char *)c_str); } }
inline static void staticSysexCallback (void *, uint8_t command, size_t argc, uint8_t *argv) { if ( currentSysexCallback ) { currentSysexCallback(command, (uint8_t)argc, argv); } }
inline static void staticReportFirmwareCallback (void * context, size_t, size_t, const char *) { if ( context ) { ((FirmataClass *)context)->printFirmwareVersion(); } }
inline static void staticReportVersionCallback (void * context) { if ( context ) { ((FirmataClass *)context)->printVersion(); } }
inline static void staticSystemResetCallback (void *) { if ( currentSystemResetCallback ) { currentSystemResetCallback(); } }
};
} // namespace firmata
extern "C" {
// callback function types
typedef firmata::FirmataClass::callbackFunction callbackFunction;
typedef firmata::FirmataClass::systemCallbackFunction systemCallbackFunction;
typedef firmata::FirmataClass::stringCallbackFunction stringCallbackFunction;
typedef firmata::FirmataClass::sysexCallbackFunction sysexCallbackFunction;
}
extern firmata::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 */

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/*
FirmataConstants.h
Copyright (c) 2006-2008 Hans-Christoph Steiner. All rights reserved.
Copyright (C) 2009-2017 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.
*/
#ifndef FirmataConstants_h
#define FirmataConstants_h
namespace firmata {
/* Version numbers for the Firmata library.
* The firmware version will not always equal the protocol version going forward.
* Query using the REPORT_FIRMWARE message.
*/
static const int FIRMWARE_MAJOR_VERSION = 2;
static const int FIRMWARE_MINOR_VERSION = 5;
static const int FIRMWARE_BUGFIX_VERSION = 7;
/* Version numbers for the protocol. The protocol is still changing, so these
* version numbers are important.
* Query using the REPORT_VERSION message.
*/
static const int PROTOCOL_MAJOR_VERSION = 2; // for non-compatible changes
static const int PROTOCOL_MINOR_VERSION = 5; // for backwards compatible changes
static const int PROTOCOL_BUGFIX_VERSION = 1; // for bugfix releases
static const int MAX_DATA_BYTES = 64; // max number of data bytes in incoming messages
// message command bytes (128-255/0x80-0xFF)
static const int DIGITAL_MESSAGE = 0x90; // send data for a digital port (collection of 8 pins)
static const int ANALOG_MESSAGE = 0xE0; // send data for an analog pin (or PWM)
static const int REPORT_ANALOG = 0xC0; // enable analog input by pin #
static const int REPORT_DIGITAL = 0xD0; // enable digital input by port pair
//
static const int SET_PIN_MODE = 0xF4; // set a pin to INPUT/OUTPUT/PWM/etc
static const int SET_DIGITAL_PIN_VALUE = 0xF5; // set value of an individual digital pin
//
static const int REPORT_VERSION = 0xF9; // report protocol version
static const int SYSTEM_RESET = 0xFF; // reset from MIDI
//
static const int START_SYSEX = 0xF0; // start a MIDI Sysex message
static const int END_SYSEX = 0xF7; // end a MIDI Sysex message
// extended command set using sysex (0-127/0x00-0x7F)
/* 0x00-0x0F reserved for user-defined commands */
static const int SERIAL_DATA = 0x60; // communicate with serial devices, including other boards
static const int ENCODER_DATA = 0x61; // reply with encoders current positions
static const int SERVO_CONFIG = 0x70; // set max angle, minPulse, maxPulse, freq
static const int STRING_DATA = 0x71; // a string message with 14-bits per char
static const int STEPPER_DATA = 0x72; // control a stepper motor
static const int ONEWIRE_DATA = 0x73; // send an OneWire read/write/reset/select/skip/search request
static const int SHIFT_DATA = 0x75; // a bitstream to/from a shift register
static const int I2C_REQUEST = 0x76; // send an I2C read/write request
static const int I2C_REPLY = 0x77; // a reply to an I2C read request
static const int I2C_CONFIG = 0x78; // config I2C settings such as delay times and power pins
static const int REPORT_FIRMWARE = 0x79; // report name and version of the firmware
static const int EXTENDED_ANALOG = 0x6F; // analog write (PWM, Servo, etc) to any pin
static const int PIN_STATE_QUERY = 0x6D; // ask for a pin's current mode and value
static const int PIN_STATE_RESPONSE = 0x6E; // reply with pin's current mode and value
static const int CAPABILITY_QUERY = 0x6B; // ask for supported modes and resolution of all pins
static const int CAPABILITY_RESPONSE = 0x6C; // reply with supported modes and resolution
static const int ANALOG_MAPPING_QUERY = 0x69; // ask for mapping of analog to pin numbers
static const int ANALOG_MAPPING_RESPONSE = 0x6A; // reply with mapping info
static const int SAMPLING_INTERVAL = 0x7A; // set the poll rate of the main loop
static const int SCHEDULER_DATA = 0x7B; // send a createtask/deletetask/addtotask/schedule/querytasks/querytask request to the scheduler
static const int SYSEX_NON_REALTIME = 0x7E; // MIDI Reserved for non-realtime messages
static const int SYSEX_REALTIME = 0x7F; // MIDI Reserved for realtime messages
// pin modes
static const int PIN_MODE_INPUT = 0x00; // same as INPUT defined in Arduino.h
static const int PIN_MODE_OUTPUT = 0x01; // same as OUTPUT defined in Arduino.h
static const int PIN_MODE_ANALOG = 0x02; // analog pin in analogInput mode
static const int PIN_MODE_PWM = 0x03; // digital pin in PWM output mode
static const int PIN_MODE_SERVO = 0x04; // digital pin in Servo output mode
static const int PIN_MODE_SHIFT = 0x05; // shiftIn/shiftOut mode
static const int PIN_MODE_I2C = 0x06; // pin included in I2C setup
static const int PIN_MODE_ONEWIRE = 0x07; // pin configured for 1-wire
static const int PIN_MODE_STEPPER = 0x08; // pin configured for stepper motor
static const int PIN_MODE_ENCODER = 0x09; // pin configured for rotary encoders
static const int PIN_MODE_SERIAL = 0x0A; // pin configured for serial communication
static const int PIN_MODE_PULLUP = 0x0B; // enable internal pull-up resistor for pin
static const int PIN_MODE_IGNORE = 0x7F; // pin configured to be ignored by digitalWrite and capabilityResponse
static const int TOTAL_PIN_MODES = 13;
} // namespace firmata
#endif // FirmataConstants_h

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/*
FirmataDefines.h
Copyright (c) 2006-2008 Hans-Christoph Steiner. All rights reserved.
Copyright (C) 2009-2016 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.
*/
#ifndef FirmataDefines_h
#define FirmataDefines_h
#include "FirmataConstants.h"
/* Version numbers for the Firmata library.
* The firmware version will not always equal the protocol version going forward.
* Query using the REPORT_FIRMWARE message.
*/
#define FIRMATA_FIRMWARE_MAJOR_VERSION firmata::FIRMWARE_MAJOR_VERSION
#define FIRMATA_FIRMWARE_MINOR_VERSION firmata::FIRMWARE_MINOR_VERSION
#define FIRMATA_FIRMWARE_BUGFIX_VERSION firmata::FIRMWARE_BUGFIX_VERSION
/* Version numbers for the protocol. The protocol is still changing, so these
* version numbers are important.
* Query using the REPORT_VERSION message.
*/
#define FIRMATA_PROTOCOL_MAJOR_VERSION firmata::PROTOCOL_MAJOR_VERSION // for non-compatible changes
#define FIRMATA_PROTOCOL_MINOR_VERSION firmata::PROTOCOL_MINOR_VERSION // for backwards compatible changes
#define FIRMATA_PROTOCOL_BUGFIX_VERSION firmata::PROTOCOL_BUGFIX_VERSION // for bugfix releases
#ifdef MAX_DATA_BYTES
#undef MAX_DATA_BYTES
#endif
#define MAX_DATA_BYTES firmata::MAX_DATA_BYTES // max number of data bytes in incoming messages
// message command bytes (128-255/0x80-0xFF)
#ifdef DIGITAL_MESSAGE
#undef DIGITAL_MESSAGE
#endif
#define DIGITAL_MESSAGE firmata::DIGITAL_MESSAGE // send data for a digital port (collection of 8 pins)
#ifdef ANALOG_MESSAGE
#undef ANALOG_MESSAGE
#endif
#define ANALOG_MESSAGE firmata::ANALOG_MESSAGE // send data for an analog pin (or PWM)
#ifdef REPORT_ANALOG
#undef REPORT_ANALOG
#endif
#define REPORT_ANALOG firmata::REPORT_ANALOG // enable analog input by pin #
#ifdef REPORT_DIGITAL
#undef REPORT_DIGITAL
#endif
#define REPORT_DIGITAL firmata::REPORT_DIGITAL // enable digital input by port pair
//
#ifdef SET_PIN_MODE
#undef SET_PIN_MODE
#endif
#define SET_PIN_MODE firmata::SET_PIN_MODE // set a pin to INPUT/OUTPUT/PWM/etc
#ifdef SET_DIGITAL_PIN_VALUE
#undef SET_DIGITAL_PIN_VALUE
#endif
#define SET_DIGITAL_PIN_VALUE firmata::SET_DIGITAL_PIN_VALUE // set value of an individual digital pin
//
#ifdef REPORT_VERSION
#undef REPORT_VERSION
#endif
#define REPORT_VERSION firmata::REPORT_VERSION // report protocol version
#ifdef SYSTEM_RESET
#undef SYSTEM_RESET
#endif
#define SYSTEM_RESET firmata::SYSTEM_RESET // reset from MIDI
//
#ifdef START_SYSEX
#undef START_SYSEX
#endif
#define START_SYSEX firmata::START_SYSEX // start a MIDI Sysex message
#ifdef END_SYSEX
#undef END_SYSEX
#endif
#define END_SYSEX firmata::END_SYSEX // end a MIDI Sysex message
// extended command set using sysex (0-127/0x00-0x7F)
/* 0x00-0x0F reserved for user-defined commands */
#ifdef SERIAL_MESSAGE
#undef SERIAL_MESSAGE
#endif
#define SERIAL_MESSAGE firmata::SERIAL_DATA // communicate with serial devices, including other boards
#ifdef ENCODER_DATA
#undef ENCODER_DATA
#endif
#define ENCODER_DATA firmata::ENCODER_DATA // reply with encoders current positions
#ifdef SERVO_CONFIG
#undef SERVO_CONFIG
#endif
#define SERVO_CONFIG firmata::SERVO_CONFIG // set max angle, minPulse, maxPulse, freq
#ifdef STRING_DATA
#undef STRING_DATA
#endif
#define STRING_DATA firmata::STRING_DATA // a string message with 14-bits per char
#ifdef STEPPER_DATA
#undef STEPPER_DATA
#endif
#define STEPPER_DATA firmata::STEPPER_DATA // control a stepper motor
#ifdef ONEWIRE_DATA
#undef ONEWIRE_DATA
#endif
#define ONEWIRE_DATA firmata::ONEWIRE_DATA // send an OneWire read/write/reset/select/skip/search request
#ifdef SHIFT_DATA
#undef SHIFT_DATA
#endif
#define SHIFT_DATA firmata::SHIFT_DATA // a bitstream to/from a shift register
#ifdef I2C_REQUEST
#undef I2C_REQUEST
#endif
#define I2C_REQUEST firmata::I2C_REQUEST // send an I2C read/write request
#ifdef I2C_REPLY
#undef I2C_REPLY
#endif
#define I2C_REPLY firmata::I2C_REPLY // a reply to an I2C read request
#ifdef I2C_CONFIG
#undef I2C_CONFIG
#endif
#define I2C_CONFIG firmata::I2C_CONFIG // config I2C settings such as delay times and power pins
#ifdef REPORT_FIRMWARE
#undef REPORT_FIRMWARE
#endif
#define REPORT_FIRMWARE firmata::REPORT_FIRMWARE // report name and version of the firmware
#ifdef EXTENDED_ANALOG
#undef EXTENDED_ANALOG
#endif
#define EXTENDED_ANALOG firmata::EXTENDED_ANALOG // analog write (PWM, Servo, etc) to any pin
#ifdef PIN_STATE_QUERY
#undef PIN_STATE_QUERY
#endif
#define PIN_STATE_QUERY firmata::PIN_STATE_QUERY // ask for a pin's current mode and value
#ifdef PIN_STATE_RESPONSE
#undef PIN_STATE_RESPONSE
#endif
#define PIN_STATE_RESPONSE firmata::PIN_STATE_RESPONSE // reply with pin's current mode and value
#ifdef CAPABILITY_QUERY
#undef CAPABILITY_QUERY
#endif
#define CAPABILITY_QUERY firmata::CAPABILITY_QUERY // ask for supported modes and resolution of all pins
#ifdef CAPABILITY_RESPONSE
#undef CAPABILITY_RESPONSE
#endif
#define CAPABILITY_RESPONSE firmata::CAPABILITY_RESPONSE // reply with supported modes and resolution
#ifdef ANALOG_MAPPING_QUERY
#undef ANALOG_MAPPING_QUERY
#endif
#define ANALOG_MAPPING_QUERY firmata::ANALOG_MAPPING_QUERY // ask for mapping of analog to pin numbers
#ifdef ANALOG_MAPPING_RESPONSE
#undef ANALOG_MAPPING_RESPONSE
#endif
#define ANALOG_MAPPING_RESPONSE firmata::ANALOG_MAPPING_RESPONSE // reply with mapping info
#ifdef SAMPLING_INTERVAL
#undef SAMPLING_INTERVAL
#endif
#define SAMPLING_INTERVAL firmata::SAMPLING_INTERVAL // set the poll rate of the main loop
#ifdef SCHEDULER_DATA
#undef SCHEDULER_DATA
#endif
#define SCHEDULER_DATA firmata::SCHEDULER_DATA // send a createtask/deletetask/addtotask/schedule/querytasks/querytask request to the scheduler
#ifdef SYSEX_NON_REALTIME
#undef SYSEX_NON_REALTIME
#endif
#define SYSEX_NON_REALTIME firmata::SYSEX_NON_REALTIME // MIDI Reserved for non-realtime messages
#ifdef SYSEX_REALTIME
#undef SYSEX_REALTIME
#endif
#define SYSEX_REALTIME firmata::SYSEX_REALTIME // MIDI Reserved for realtime messages
// pin modes
#ifdef PIN_MODE_INPUT
#undef PIN_MODE_INPUT
#endif
#define PIN_MODE_INPUT firmata::PIN_MODE_INPUT // same as INPUT defined in Arduino.h
#ifdef PIN_MODE_OUTPUT
#undef PIN_MODE_OUTPUT
#endif
#define PIN_MODE_OUTPUT firmata::PIN_MODE_OUTPUT // same as OUTPUT defined in Arduino.h
#ifdef PIN_MODE_ANALOG
#undef PIN_MODE_ANALOG
#endif
#define PIN_MODE_ANALOG firmata::PIN_MODE_ANALOG // analog pin in analogInput mode
#ifdef PIN_MODE_PWM
#undef PIN_MODE_PWM
#endif
#define PIN_MODE_PWM firmata::PIN_MODE_PWM // digital pin in PWM output mode
#ifdef PIN_MODE_SERVO
#undef PIN_MODE_SERVO
#endif
#define PIN_MODE_SERVO firmata::PIN_MODE_SERVO // digital pin in Servo output mode
#ifdef PIN_MODE_SHIFT
#undef PIN_MODE_SHIFT
#endif
#define PIN_MODE_SHIFT firmata::PIN_MODE_SHIFT // shiftIn/shiftOut mode
#ifdef PIN_MODE_I2C
#undef PIN_MODE_I2C
#endif
#define PIN_MODE_I2C firmata::PIN_MODE_I2C // pin included in I2C setup
#ifdef PIN_MODE_ONEWIRE
#undef PIN_MODE_ONEWIRE
#endif
#define PIN_MODE_ONEWIRE firmata::PIN_MODE_ONEWIRE // pin configured for 1-wire
#ifdef PIN_MODE_STEPPER
#undef PIN_MODE_STEPPER
#endif
#define PIN_MODE_STEPPER firmata::PIN_MODE_STEPPER // pin configured for stepper motor
#ifdef PIN_MODE_ENCODER
#undef PIN_MODE_ENCODER
#endif
#define PIN_MODE_ENCODER firmata::PIN_MODE_ENCODER // pin configured for rotary encoders
#ifdef PIN_MODE_SERIAL
#undef PIN_MODE_SERIAL
#endif
#define PIN_MODE_SERIAL firmata::PIN_MODE_SERIAL // pin configured for serial communication
#ifdef PIN_MODE_PULLUP
#undef PIN_MODE_PULLUP
#endif
#define PIN_MODE_PULLUP firmata::PIN_MODE_PULLUP // enable internal pull-up resistor for pin
#ifdef PIN_MODE_IGNORE
#undef PIN_MODE_IGNORE
#endif
#define PIN_MODE_IGNORE firmata::PIN_MODE_IGNORE // pin configured to be ignored by digitalWrite and capabilityResponse
#ifdef TOTAL_PIN_MODES
#undef TOTAL_PIN_MODES
#endif
#define TOTAL_PIN_MODES firmata::TOTAL_PIN_MODES
#endif // FirmataConstants_h

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/*
FirmataMarshaller.cpp
Copyright (c) 2006-2008 Hans-Christoph Steiner. All rights reserved.
Copyright (C) 2009-2016 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.
*/
//******************************************************************************
//* Includes
//******************************************************************************
#include "FirmataMarshaller.h"
#if defined(__cplusplus) && !defined(ARDUINO)
#include <cstring>
#else
#include <string.h>
#endif
#include "FirmataConstants.h"
using namespace firmata;
//******************************************************************************
//* Support Functions
//******************************************************************************
/**
* Request or halt a stream of analog readings from the Firmata host application. The range of pins is
* limited to [0..15] when using the REPORT_ANALOG. The maximum result of the REPORT_ANALOG is limited to 14 bits
* (16384). To increase the pin range or value, see the documentation for the EXTENDED_ANALOG
* message.
* @param pin The analog pin for which to request the value (limited to pins 0 - 15).
* @param stream_enable A zero value will disable the stream, a non-zero will enable the stream
* @note The maximum resulting value is 14-bits (16384).
*/
void FirmataMarshaller::reportAnalog(uint8_t pin, bool stream_enable)
const
{
if ( (Stream *)NULL == FirmataStream ) { return; }
// pin can only be 0-15, so chop higher bits
FirmataStream->write(REPORT_ANALOG | (pin & 0xF));
FirmataStream->write(stream_enable);
}
/**
* Request or halt an 8-bit port stream from the Firmata host application (protocol v2 and later).
* Send 14-bits in a single digital message (protocol v1).
* @param portNumber The port number for which to request the value. Note that this is not the same as a "port" on the
* physical microcontroller. Ports are defined in order per every 8 pins in ascending order
* of the Arduino digital pin numbering scheme. Port 0 = pins D0 - D7, port 1 = pins D8 - D15, etc.
* @param stream_enable A zero value will disable the stream, a non-zero will enable the stream
*/
void FirmataMarshaller::reportDigitalPort(uint8_t portNumber, bool stream_enable)
const
{
if ( (Stream *)NULL == FirmataStream ) { return; }
FirmataStream->write(REPORT_DIGITAL | (portNumber & 0xF));
FirmataStream->write(stream_enable);
}
/**
* An alternative to the normal analog message, this extended version allows addressing beyond
* pin 15 and supports sending analog values with any number of bits.
* @param pin The analog pin to which the value is sent.
* @param bytec The size of the storage for the analog value
* @param bytev The pointer to the location of the analog value
*/
void FirmataMarshaller::sendExtendedAnalog(uint8_t pin, size_t bytec, uint8_t * bytev)
const
{
if ( (Stream *)NULL == FirmataStream ) { return; }
FirmataStream->write(START_SYSEX);
FirmataStream->write(EXTENDED_ANALOG);
FirmataStream->write(pin);
encodeByteStream(bytec, bytev, bytec);
FirmataStream->write(END_SYSEX);
}
/**
* Transform 8-bit stream into 7-bit message
* @param bytec The number of data bytes in the message.
* @param bytev A pointer to the array of data bytes to send in the message.
* @param max_bytes Force message to be n bytes, regardless of data bits.
*/
void FirmataMarshaller::encodeByteStream (size_t bytec, uint8_t * bytev, size_t max_bytes)
const
{
static const size_t transmit_bits = 7;
static const uint8_t transmit_mask = ((1 << transmit_bits) - 1);
size_t bytes_sent = 0;
size_t outstanding_bits = 0;
uint8_t outstanding_bit_cache = *bytev;
if ( !max_bytes ) { max_bytes = static_cast<size_t>(-1); }
for (size_t i = 0 ; (i < bytec) && (bytes_sent < max_bytes) ; ++i) {
uint8_t transmit_byte = (outstanding_bit_cache|(bytev[i] << outstanding_bits));
FirmataStream->write(transmit_mask & transmit_byte);
++bytes_sent;
outstanding_bit_cache = (bytev[i] >> (transmit_bits - outstanding_bits));
outstanding_bits = (outstanding_bits + (8 - transmit_bits));
for ( ; (outstanding_bits >= transmit_bits) && (bytes_sent < max_bytes) ; ) {
transmit_byte = outstanding_bit_cache;
FirmataStream->write(transmit_mask & transmit_byte);
++bytes_sent;
outstanding_bit_cache >>= transmit_bits;
outstanding_bits -= transmit_bits;
}
}
if ( outstanding_bits && (bytes_sent < max_bytes) ) {
FirmataStream->write(static_cast<uint8_t>((1 << outstanding_bits) - 1) & outstanding_bit_cache);
}
}
//******************************************************************************
//* Constructors
//******************************************************************************
/**
* The FirmataMarshaller class.
*/
FirmataMarshaller::FirmataMarshaller()
:
FirmataStream((Stream *)NULL)
{
}
//******************************************************************************
//* Public Methods
//******************************************************************************
/**
* Reassign the Firmata stream transport.
* @param s A reference to the Stream transport object. This can be any type of
* transport that implements the Stream interface. Some examples include Ethernet, WiFi
* and other UARTs on the board (Serial1, Serial2, etc).
*/
void FirmataMarshaller::begin(Stream &s)
{
FirmataStream = &s;
}
/**
* Closes the FirmataMarshaller stream by setting its stream reference to `(Stream *)NULL`
*/
void FirmataMarshaller::end(void)
{
FirmataStream = (Stream *)NULL;
}
//******************************************************************************
//* Output Stream Handling
//******************************************************************************
/**
* Query the target's firmware name and version
*/
void FirmataMarshaller::queryFirmwareVersion(void)
const
{
if ( (Stream *)NULL == FirmataStream ) { return; }
FirmataStream->write(START_SYSEX);
FirmataStream->write(REPORT_FIRMWARE);
FirmataStream->write(END_SYSEX);
}
/**
* Query the target's Firmata protocol version
*/
void FirmataMarshaller::queryVersion(void)
const
{
if ( (Stream *)NULL == FirmataStream ) { return; }
FirmataStream->write(REPORT_VERSION);
}
/**
* Halt the stream of analog readings from the Firmata host application. The range of pins is
* limited to [0..15] when using the REPORT_ANALOG. The maximum result of the REPORT_ANALOG is limited to 14 bits
* (16384). To increase the pin range or value, see the documentation for the EXTENDED_ANALOG
* message.
* @param pin The analog pin for which to request the value (limited to pins 0 - 15).
*/
void FirmataMarshaller::reportAnalogDisable(uint8_t pin)
const
{
reportAnalog(pin, false);
}
/**
* Request a stream of analog readings from the Firmata host application. The range of pins is
* limited to [0..15] when using the REPORT_ANALOG. The maximum result of the REPORT_ANALOG is limited to 14 bits
* (16384). To increase the pin range or value, see the documentation for the EXTENDED_ANALOG
* message.
* @param pin The analog pin for which to request the value (limited to pins 0 - 15).
*/
void FirmataMarshaller::reportAnalogEnable(uint8_t pin)
const
{
reportAnalog(pin, true);
}
/**
* Halt an 8-bit port stream from the Firmata host application (protocol v2 and later).
* Send 14-bits in a single digital message (protocol v1).
* @param portNumber The port number for which to request the value. Note that this is not the same as a "port" on the
* physical microcontroller. Ports are defined in order per every 8 pins in ascending order
* of the Arduino digital pin numbering scheme. Port 0 = pins D0 - D7, port 1 = pins D8 - D15, etc.
*/
void FirmataMarshaller::reportDigitalPortDisable(uint8_t portNumber)
const
{
reportDigitalPort(portNumber, false);
}
/**
* Request an 8-bit port stream from the Firmata host application (protocol v2 and later).
* Send 14-bits in a single digital message (protocol v1).
* @param portNumber The port number for which to request the value. Note that this is not the same as a "port" on the
* physical microcontroller. Ports are defined in order per every 8 pins in ascending order
* of the Arduino digital pin numbering scheme. Port 0 = pins D0 - D7, port 1 = pins D8 - D15, etc.
*/
void FirmataMarshaller::reportDigitalPortEnable(uint8_t portNumber)
const
{
reportDigitalPort(portNumber, true);
}
/**
* Send an analog message to the Firmata host application. The range of pins is limited to [0..15]
* when using the ANALOG_MESSAGE. The maximum value of the ANALOG_MESSAGE is limited to 14 bits
* (16384). To increase the pin range or value, see the documentation for the EXTENDED_ANALOG
* message.
* @param pin The analog pin to which the value is sent.
* @param value The value of the analog pin (0 - 1024 for 10-bit analog, 0 - 4096 for 12-bit, etc).
* @note The maximum value is 14-bits (16384).
*/
void FirmataMarshaller::sendAnalog(uint8_t pin, uint16_t value)
const
{
if ( (Stream *)NULL == FirmataStream ) { return; }
if ( (0xF >= pin) && (0x3FFF >= value) ) {
FirmataStream->write(ANALOG_MESSAGE|pin);
encodeByteStream(sizeof(value), reinterpret_cast<uint8_t *>(&value), sizeof(value));
} else {
sendExtendedAnalog(pin, sizeof(value), reinterpret_cast<uint8_t *>(&value));
}
}
/**
* Send an analog mapping query to the Firmata host application. The resulting sysex message will
* have an ANALOG_MAPPING_RESPONSE command byte, followed by a list of pins [0-n]; where each
* pin will specify its corresponding analog pin number or 0x7F (127) if not applicable.
*/
void FirmataMarshaller::sendAnalogMappingQuery(void)
const
{
sendSysex(ANALOG_MAPPING_QUERY, 0, NULL);
}
/**
* Send a capability query to the Firmata host application. The resulting sysex message will have
* a CAPABILITY_RESPONSE command byte, followed by a list of byte tuples (mode and mode resolution)
* for each pin; where each pin list is terminated by 0x7F (127).
*/
void FirmataMarshaller::sendCapabilityQuery(void)
const
{
sendSysex(CAPABILITY_QUERY, 0, NULL);
}
/**
* Send a single digital pin value to the Firmata host application.
* @param pin The digital pin to send the value of.
* @param value The value of the pin.
*/
void FirmataMarshaller::sendDigital(uint8_t pin, uint8_t value)
const
{
if ( (Stream *)NULL == FirmataStream ) { return; }
FirmataStream->write(SET_DIGITAL_PIN_VALUE);
FirmataStream->write(pin & 0x7F);
FirmataStream->write(value != 0);
}
/**
* Send an 8-bit port in a single digital message (protocol v2 and later).
* Send 14-bits in a single digital message (protocol v1).
* @param portNumber The port number to send. Note that this is not the same as a "port" on the
* physical microcontroller. Ports are defined in order per every 8 pins in ascending order
* of the Arduino digital pin numbering scheme. Port 0 = pins D0 - D7, port 1 = pins D8 - D15, etc.
* @param portData The value of the port. The value of each pin in the port is represented by a bit.
*/
void FirmataMarshaller::sendDigitalPort(uint8_t portNumber, uint16_t portData)
const
{
if ( (Stream *)NULL == FirmataStream ) { return; }
FirmataStream->write(DIGITAL_MESSAGE | (portNumber & 0xF));
// Tx bits 0-6 (protocol v1 and higher)
// Tx bits 7-13 (bit 7 only for protocol v2 and higher)
encodeByteStream(sizeof(portData), reinterpret_cast<uint8_t *>(&portData), sizeof(portData));
}
/**
* Sends the firmware name and version to the Firmata host application.
* @param major The major verison number
* @param minor The minor version number
* @param bytec The length of the firmware name
* @param bytev The firmware name array
*/
void FirmataMarshaller::sendFirmwareVersion(uint8_t major, uint8_t minor, size_t bytec, uint8_t *bytev)
const
{
if ( (Stream *)NULL == FirmataStream ) { return; }
size_t i;
FirmataStream->write(START_SYSEX);
FirmataStream->write(REPORT_FIRMWARE);
FirmataStream->write(major);
FirmataStream->write(minor);
for (i = 0; i < bytec; ++i) {
encodeByteStream(sizeof(bytev[i]), reinterpret_cast<uint8_t *>(&bytev[i]));
}
FirmataStream->write(END_SYSEX);
}
/**
* Send the Firmata protocol version to the Firmata host application.
* @param major The major verison number
* @param minor The minor version number
*/
void FirmataMarshaller::sendVersion(uint8_t major, uint8_t minor)
const
{
if ( (Stream *)NULL == FirmataStream ) { return; }
FirmataStream->write(REPORT_VERSION);
FirmataStream->write(major);
FirmataStream->write(minor);
}
/**
* Send the pin mode/configuration. The pin configuration (or mode) in Firmata represents the
* current function of the pin. Examples are digital input or output, analog input, pwm, i2c,
* serial (uart), etc.
* @param pin The pin to configure.
* @param config The configuration value for the specified pin.
*/
void FirmataMarshaller::sendPinMode(uint8_t pin, uint8_t config)
const
{
if ( (Stream *)NULL == FirmataStream ) { return; }
FirmataStream->write(SET_PIN_MODE);
FirmataStream->write(pin);
FirmataStream->write(config);
}
/**
* Send a pin state query to the Firmata host application. The resulting sysex message will have
* a PIN_STATE_RESPONSE command byte, followed by the pin number, the pin mode and a stream of
* bits to indicate any *data* written to the pin (pin state).
* @param pin The pin to query
* @note The pin state is any data written to the pin (i.e. pin state != pin value)
*/
void FirmataMarshaller::sendPinStateQuery(uint8_t pin)
const
{
if ( (Stream *)NULL == FirmataStream ) { return; }
FirmataStream->write(START_SYSEX);
FirmataStream->write(PIN_STATE_QUERY);
FirmataStream->write(pin);
FirmataStream->write(END_SYSEX);
}
/**
* Send a sysex message where all values after the command byte are packet as 2 7-bit bytes
* (this is not always the case so this function is not always used to send sysex messages).
* @param command The sysex command byte.
* @param bytec The number of data bytes in the message (excludes start, command and end bytes).
* @param bytev A pointer to the array of data bytes to send in the message.
*/
void FirmataMarshaller::sendSysex(uint8_t command, size_t bytec, uint8_t *bytev)
const
{
if ( (Stream *)NULL == FirmataStream ) { return; }
size_t i;
FirmataStream->write(START_SYSEX);
FirmataStream->write(command);
for (i = 0; i < bytec; ++i) {
encodeByteStream(sizeof(bytev[i]), reinterpret_cast<uint8_t *>(&bytev[i]));
}
FirmataStream->write(END_SYSEX);
}
/**
* Send a string to the Firmata host application.
* @param string A pointer to the char string
*/
void FirmataMarshaller::sendString(const char *string)
const
{
sendSysex(STRING_DATA, strlen(string), reinterpret_cast<uint8_t *>(const_cast<char *>(string)));
}
/**
* The sampling interval sets how often analog data and i2c data is reported to the client.
* @param interval_ms The interval (in milliseconds) at which to sample
* @note The default sampling interval is 19ms
*/
void FirmataMarshaller::setSamplingInterval(uint16_t interval_ms)
const
{
sendSysex(SAMPLING_INTERVAL, sizeof(interval_ms), reinterpret_cast<uint8_t *>(&interval_ms));
}
/**
* Perform a software reset on the target. For example, StandardFirmata.ino will initialize
* everything to a known state and reset the parsing buffer.
*/
void FirmataMarshaller::systemReset(void)
const
{
if ( (Stream *)NULL == FirmataStream ) { return; }
FirmataStream->write(SYSTEM_RESET);
}

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/*
FirmataMarshaller.h
Copyright (c) 2006-2008 Hans-Christoph Steiner. All rights reserved.
Copyright (C) 2009-2016 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.
*/
#ifndef FirmataMarshaller_h
#define FirmataMarshaller_h
#if defined(__cplusplus) && !defined(ARDUINO)
#include <cstddef>
#include <cstdint>
#else
#include <stddef.h>
#include <stdint.h>
#endif
#include <Stream.h>
namespace firmata {
class FirmataMarshaller
{
friend class FirmataClass;
public:
/* constructors */
FirmataMarshaller();
/* public methods */
void begin(Stream &s);
void end();
/* serial send handling */
void queryFirmwareVersion(void) const;
void queryVersion(void) const;
void reportAnalogDisable(uint8_t pin) const;
void reportAnalogEnable(uint8_t pin) const;
void reportDigitalPortDisable(uint8_t portNumber) const;
void reportDigitalPortEnable(uint8_t portNumber) const;
void sendAnalog(uint8_t pin, uint16_t value) const;
void sendAnalogMappingQuery(void) const;
void sendCapabilityQuery(void) const;
void sendDigital(uint8_t pin, uint8_t value) const;
void sendDigitalPort(uint8_t portNumber, uint16_t portData) const;
void sendFirmwareVersion(uint8_t major, uint8_t minor, size_t bytec, uint8_t *bytev) const;
void sendVersion(uint8_t major, uint8_t minor) const;
void sendPinMode(uint8_t pin, uint8_t config) const;
void sendPinStateQuery(uint8_t pin) const;
void sendString(const char *string) const;
void sendSysex(uint8_t command, size_t bytec, uint8_t *bytev) const;
void setSamplingInterval(uint16_t interval_ms) const;
void systemReset(void) const;
private:
/* utility methods */
void reportAnalog(uint8_t pin, bool stream_enable) const;
void reportDigitalPort(uint8_t portNumber, bool stream_enable) const;
void sendExtendedAnalog(uint8_t pin, size_t bytec, uint8_t * bytev) const;
void encodeByteStream (size_t bytec, uint8_t * bytev, size_t max_bytes = 0) const;
Stream * FirmataStream;
};
} // namespace firmata
#endif /* FirmataMarshaller_h */

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/*
FirmataParser.cpp
Copyright (c) 2006-2008 Hans-Christoph Steiner. All rights reserved.
Copyright (C) 2009-2016 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.
*/
//******************************************************************************
//* Includes
//******************************************************************************
#include "FirmataParser.h"
#include "FirmataConstants.h"
using namespace firmata;
//******************************************************************************
//* Constructors
//******************************************************************************
/**
* The FirmataParser class.
* @param dataBuffer A pointer to an external buffer used to store parsed data
* @param dataBufferSize The size of the external buffer
*/
FirmataParser::FirmataParser(uint8_t * const dataBuffer, size_t dataBufferSize)
:
dataBuffer(dataBuffer),
dataBufferSize(dataBufferSize),
executeMultiByteCommand(0),
multiByteChannel(0),
waitForData(0),
parsingSysex(false),
sysexBytesRead(0),
currentAnalogCallbackContext((void *)NULL),
currentDigitalCallbackContext((void *)NULL),
currentReportAnalogCallbackContext((void *)NULL),
currentReportDigitalCallbackContext((void *)NULL),
currentPinModeCallbackContext((void *)NULL),
currentPinValueCallbackContext((void *)NULL),
currentReportFirmwareCallbackContext((void *)NULL),
currentReportVersionCallbackContext((void *)NULL),
currentDataBufferOverflowCallbackContext((void *)NULL),
currentStringCallbackContext((void *)NULL),
currentSysexCallbackContext((void *)NULL),
currentSystemResetCallbackContext((void *)NULL),
currentAnalogCallback((callbackFunction)NULL),
currentDigitalCallback((callbackFunction)NULL),
currentReportAnalogCallback((callbackFunction)NULL),
currentReportDigitalCallback((callbackFunction)NULL),
currentPinModeCallback((callbackFunction)NULL),
currentPinValueCallback((callbackFunction)NULL),
currentDataBufferOverflowCallback((dataBufferOverflowCallbackFunction)NULL),
currentStringCallback((stringCallbackFunction)NULL),
currentSysexCallback((sysexCallbackFunction)NULL),
currentReportFirmwareCallback((versionCallbackFunction)NULL),
currentReportVersionCallback((systemCallbackFunction)NULL),
currentSystemResetCallback((systemCallbackFunction)NULL)
{
allowBufferUpdate = ((uint8_t *)NULL == dataBuffer);
}
//******************************************************************************
//* Public Methods
//******************************************************************************
//------------------------------------------------------------------------------
// Serial Receive Handling
/**
* Parse data from the input stream.
* @param inputData A single byte to be added to the parser.
*/
void FirmataParser::parse(uint8_t inputData)
{
uint8_t command;
if (parsingSysex) {
if (inputData == END_SYSEX) {
//stop sysex byte
parsingSysex = false;
//fire off handler function
processSysexMessage();
} else {
//normal data byte - add to buffer
bufferDataAtPosition(inputData, sysexBytesRead);
++sysexBytesRead;
}
} else if ( (waitForData > 0) && (inputData < 128) ) {
--waitForData;
bufferDataAtPosition(inputData, waitForData);
if ( (waitForData == 0) && executeMultiByteCommand ) { // got the whole message
switch (executeMultiByteCommand) {
case ANALOG_MESSAGE:
if (currentAnalogCallback) {
(*currentAnalogCallback)(currentAnalogCallbackContext,
multiByteChannel,
(dataBuffer[0] << 7)
+ dataBuffer[1]);
}
break;
case DIGITAL_MESSAGE:
if (currentDigitalCallback) {
(*currentDigitalCallback)(currentDigitalCallbackContext,
multiByteChannel,
(dataBuffer[0] << 7)
+ dataBuffer[1]);
}
break;
case SET_PIN_MODE:
if (currentPinModeCallback)
(*currentPinModeCallback)(currentPinModeCallbackContext, dataBuffer[1], dataBuffer[0]);
break;
case SET_DIGITAL_PIN_VALUE:
if (currentPinValueCallback)
(*currentPinValueCallback)(currentPinValueCallbackContext, dataBuffer[1], dataBuffer[0]);
break;
case REPORT_ANALOG:
if (currentReportAnalogCallback)
(*currentReportAnalogCallback)(currentReportAnalogCallbackContext, multiByteChannel, dataBuffer[0]);
break;
case REPORT_DIGITAL:
if (currentReportDigitalCallback)
(*currentReportDigitalCallback)(currentReportDigitalCallbackContext, multiByteChannel, dataBuffer[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:
case SET_DIGITAL_PIN_VALUE:
waitForData = 2; // two data bytes needed
executeMultiByteCommand = command;
break;
case REPORT_ANALOG:
case REPORT_DIGITAL:
waitForData = 1; // one data byte needed
executeMultiByteCommand = command;
break;
case START_SYSEX:
parsingSysex = true;
sysexBytesRead = 0;
break;
case SYSTEM_RESET:
systemReset();
break;
case REPORT_VERSION:
if (currentReportVersionCallback)
(*currentReportVersionCallback)(currentReportVersionCallbackContext);
break;
}
}
}
/**
* @return Returns true if the parser is actively parsing data.
*/
bool FirmataParser::isParsingMessage(void)
const
{
return (waitForData > 0 || parsingSysex);
}
/**
* Provides a mechanism to either set or update the working buffer of the parser.
* The method will be enabled when no buffer has been provided, or an overflow
* condition exists.
* @param dataBuffer A pointer to an external buffer used to store parsed data
* @param dataBufferSize The size of the external buffer
*/
int FirmataParser::setDataBufferOfSize(uint8_t * dataBuffer, size_t dataBufferSize)
{
int result;
if ( !allowBufferUpdate ) {
result = __LINE__;
} else if ((uint8_t *)NULL == dataBuffer) {
result = __LINE__;
} else {
this->dataBuffer = dataBuffer;
this->dataBufferSize = dataBufferSize;
allowBufferUpdate = false;
result = 0;
}
return result;
}
/**
* Attach a generic sysex callback function to a command (options are: ANALOG_MESSAGE,
* DIGITAL_MESSAGE, REPORT_ANALOG, REPORT DIGITAL, SET_PIN_MODE and SET_DIGITAL_PIN_VALUE).
* @param command The ID of the command to attach a callback function to.
* @param newFunction A reference to the callback function to attach.
* @param context An optional context to be provided to the callback function (NULL by default).
* @note The context parameter is provided so you can pass a parameter, by reference, to
* your callback function.
*/
void FirmataParser::attach(uint8_t command, callbackFunction newFunction, void * context)
{
switch (command) {
case ANALOG_MESSAGE:
currentAnalogCallback = newFunction;
currentAnalogCallbackContext = context;
break;
case DIGITAL_MESSAGE:
currentDigitalCallback = newFunction;
currentDigitalCallbackContext = context;
break;
case REPORT_ANALOG:
currentReportAnalogCallback = newFunction;
currentReportAnalogCallbackContext = context;
break;
case REPORT_DIGITAL:
currentReportDigitalCallback = newFunction;
currentReportDigitalCallbackContext = context;
break;
case SET_PIN_MODE:
currentPinModeCallback = newFunction;
currentPinModeCallbackContext = context;
break;
case SET_DIGITAL_PIN_VALUE:
currentPinValueCallback = newFunction;
currentPinValueCallbackContext = context;
break;
}
}
/**
* Attach a version callback function (supported option: REPORT_FIRMWARE).
* @param command The ID of the command to attach a callback function to.
* @param newFunction A reference to the callback function to attach.
* @param context An optional context to be provided to the callback function (NULL by default).
* @note The context parameter is provided so you can pass a parameter, by reference, to
* your callback function.
*/
void FirmataParser::attach(uint8_t command, versionCallbackFunction newFunction, void * context)
{
switch (command) {
case REPORT_FIRMWARE:
currentReportFirmwareCallback = newFunction;
currentReportFirmwareCallbackContext = context;
break;
}
}
/**
* Attach a system callback function (supported options are: SYSTEM_RESET, REPORT_VERSION).
* @param command The ID of the command to attach a callback function to.
* @param newFunction A reference to the callback function to attach.
* @param context An optional context to be provided to the callback function (NULL by default).
* @note The context parameter is provided so you can pass a parameter, by reference, to
* your callback function.
*/
void FirmataParser::attach(uint8_t command, systemCallbackFunction newFunction, void * context)
{
switch (command) {
case REPORT_VERSION:
currentReportVersionCallback = newFunction;
currentReportVersionCallbackContext = context;
break;
case SYSTEM_RESET:
currentSystemResetCallback = newFunction;
currentSystemResetCallbackContext = context;
break;
}
}
/**
* Attach a callback function for the STRING_DATA command.
* @param command Must be set to STRING_DATA or it will be ignored.
* @param newFunction A reference to the string callback function to attach.
* @param context An optional context to be provided to the callback function (NULL by default).
* @note The context parameter is provided so you can pass a parameter, by reference, to
* your callback function.
*/
void FirmataParser::attach(uint8_t command, stringCallbackFunction newFunction, void * context)
{
switch (command) {
case STRING_DATA:
currentStringCallback = newFunction;
currentStringCallbackContext = context;
break;
}
}
/**
* Attach a generic sysex callback function to sysex command.
* @param command The ID of the command to attach a callback function to.
* @param newFunction A reference to the sysex callback function to attach.
* @param context An optional context to be provided to the callback function (NULL by default).
* @note The context parameter is provided so you can pass a parameter, by reference, to
* your callback function.
*/
void FirmataParser::attach(uint8_t command, sysexCallbackFunction newFunction, void * context)
{
(void)command;
currentSysexCallback = newFunction;
currentSysexCallbackContext = context;
}
/**
* Attach a buffer overflow callback
* @param newFunction A reference to the buffer overflow callback function to attach.
* @param context An optional context to be provided to the callback function (NULL by default).
* @note The context parameter is provided so you can pass a parameter, by reference, to
* your callback function.
*/
void FirmataParser::attach(dataBufferOverflowCallbackFunction newFunction, void * context)
{
currentDataBufferOverflowCallback = newFunction;
currentDataBufferOverflowCallbackContext = context;
}
/**
* Detach a callback function for a specified command (such as SYSTEM_RESET, STRING_DATA,
* ANALOG_MESSAGE, DIGITAL_MESSAGE, etc).
* @param command The ID of the command to detatch the callback function from.
*/
void FirmataParser::detach(uint8_t command)
{
switch (command) {
case REPORT_FIRMWARE:
attach(command, (versionCallbackFunction)NULL, NULL);
break;
case REPORT_VERSION:
case SYSTEM_RESET:
attach(command, (systemCallbackFunction)NULL, NULL);
break;
case STRING_DATA:
attach(command, (stringCallbackFunction)NULL, NULL);
break;
case START_SYSEX:
attach(command, (sysexCallbackFunction)NULL, NULL);
break;
default:
attach(command, (callbackFunction)NULL, NULL);
break;
}
}
/**
* Detach the buffer overflow callback
* @param <unused> Any pointer of type dataBufferOverflowCallbackFunction.
*/
void FirmataParser::detach(dataBufferOverflowCallbackFunction)
{
currentDataBufferOverflowCallback = (dataBufferOverflowCallbackFunction)NULL;
currentDataBufferOverflowCallbackContext = (void *)NULL;
}
//******************************************************************************
//* Private Methods
//******************************************************************************
/**
* Buffer abstraction to prevent memory corruption
* @param data The byte to put into the buffer
* @param pos The position to insert the byte into the buffer
* @return writeError A boolean to indicate if an error occured
* @private
*/
bool FirmataParser::bufferDataAtPosition(const uint8_t data, const size_t pos)
{
bool bufferOverflow = (pos >= dataBufferSize);
// Notify of overflow condition
if ( bufferOverflow
&& ((dataBufferOverflowCallbackFunction)NULL != currentDataBufferOverflowCallback) )
{
allowBufferUpdate = true;
currentDataBufferOverflowCallback(currentDataBufferOverflowCallbackContext);
// Check if overflow was resolved during callback
bufferOverflow = (pos >= dataBufferSize);
}
// Write data to buffer if no overflow condition persist
if ( !bufferOverflow )
{
dataBuffer[pos] = data;
}
return bufferOverflow;
}
/**
* Transform 7-bit firmata message into 8-bit stream
* @param bytec The encoded data byte length of the message (max: 16383).
* @param bytev A pointer to the encoded array of data bytes.
* @return The length of the decoded data.
* @note The conversion will be done in place on the provided buffer.
* @private
*/
size_t FirmataParser::decodeByteStream(size_t bytec, uint8_t * bytev) {
size_t decoded_bytes, i;
for ( i = 0, decoded_bytes = 0 ; i < bytec ; ++decoded_bytes, ++i ) {
bytev[decoded_bytes] = bytev[i];
bytev[decoded_bytes] |= (uint8_t)(bytev[++i] << 7);
}
return decoded_bytes;
}
/**
* Process incoming sysex messages. Handles REPORT_FIRMWARE and STRING_DATA internally.
* Calls callback function for STRING_DATA and all other sysex messages.
* @private
*/
void FirmataParser::processSysexMessage(void)
{
switch (dataBuffer[0]) { //first byte in buffer is command
case REPORT_FIRMWARE:
if (currentReportFirmwareCallback) {
const size_t major_version_offset = 1;
const size_t minor_version_offset = 2;
const size_t string_offset = 3;
// Test for malformed REPORT_FIRMWARE message (used to query firmware prior to Firmata v3.0.0)
if ( 3 > sysexBytesRead ) {
(*currentReportFirmwareCallback)(currentReportFirmwareCallbackContext, 0, 0, (const char *)NULL);
} else {
const size_t end_of_string = (string_offset + decodeByteStream((sysexBytesRead - string_offset), &dataBuffer[string_offset]));
bufferDataAtPosition('\0', end_of_string); // NULL terminate the string
(*currentReportFirmwareCallback)(currentReportFirmwareCallbackContext, (size_t)dataBuffer[major_version_offset], (size_t)dataBuffer[minor_version_offset], (const char *)&dataBuffer[string_offset]);
}
}
break;
case STRING_DATA:
if (currentStringCallback) {
const size_t string_offset = 1;
const size_t end_of_string = (string_offset + decodeByteStream((sysexBytesRead - string_offset), &dataBuffer[string_offset]));
bufferDataAtPosition('\0', end_of_string); // NULL terminate the string
(*currentStringCallback)(currentStringCallbackContext, (const char *)&dataBuffer[string_offset]);
}
break;
default:
if (currentSysexCallback)
(*currentSysexCallback)(currentSysexCallbackContext, dataBuffer[0], sysexBytesRead - 1, dataBuffer + 1);
}
}
/**
* Resets the system state upon a SYSTEM_RESET message from the host software.
* @private
*/
void FirmataParser::systemReset(void)
{
size_t 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 < dataBufferSize; ++i) {
dataBuffer[i] = 0;
}
parsingSysex = false;
sysexBytesRead = 0;
if (currentSystemResetCallback)
(*currentSystemResetCallback)(currentSystemResetCallbackContext);
}

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/*
FirmataParser.h
Copyright (c) 2006-2008 Hans-Christoph Steiner. All rights reserved.
Copyright (C) 2009-2016 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.
*/
#ifndef FirmataParser_h
#define FirmataParser_h
#if defined(__cplusplus) && !defined(ARDUINO)
#include <cstddef>
#include <cstdint>
#else
#include <stddef.h>
#include <stdint.h>
#endif
namespace firmata {
class FirmataParser
{
public:
/* callback function types */
typedef void (*callbackFunction)(void * context, uint8_t command, uint16_t value);
typedef void (*dataBufferOverflowCallbackFunction)(void * context);
typedef void (*stringCallbackFunction)(void * context, const char * c_str);
typedef void (*sysexCallbackFunction)(void * context, uint8_t command, size_t argc, uint8_t * argv);
typedef void (*systemCallbackFunction)(void * context);
typedef void (*versionCallbackFunction)(void * context, size_t sv_major, size_t sv_minor, const char * firmware);
FirmataParser(uint8_t * dataBuffer = (uint8_t *)NULL, size_t dataBufferSize = 0);
/* serial receive handling */
void parse(uint8_t value);
bool isParsingMessage(void) const;
int setDataBufferOfSize(uint8_t * dataBuffer, size_t dataBufferSize);
/* attach & detach callback functions to messages */
void attach(uint8_t command, callbackFunction newFunction, void * context = NULL);
void attach(dataBufferOverflowCallbackFunction newFunction, void * context = NULL);
void attach(uint8_t command, stringCallbackFunction newFunction, void * context = NULL);
void attach(uint8_t command, sysexCallbackFunction newFunction, void * context = NULL);
void attach(uint8_t command, systemCallbackFunction newFunction, void * context = NULL);
void attach(uint8_t command, versionCallbackFunction newFunction, void * context = NULL);
void detach(uint8_t command);
void detach(dataBufferOverflowCallbackFunction);
private:
/* input message handling */
bool allowBufferUpdate;
uint8_t * dataBuffer; // multi-byte data
size_t dataBufferSize;
uint8_t executeMultiByteCommand; // execute this after getting multi-byte data
uint8_t multiByteChannel; // channel data for multiByteCommands
size_t waitForData; // this flag says the next serial input will be data
/* sysex */
bool parsingSysex;
size_t sysexBytesRead;
/* callback context */
void * currentAnalogCallbackContext;
void * currentDigitalCallbackContext;
void * currentReportAnalogCallbackContext;
void * currentReportDigitalCallbackContext;
void * currentPinModeCallbackContext;
void * currentPinValueCallbackContext;
void * currentReportFirmwareCallbackContext;
void * currentReportVersionCallbackContext;
void * currentDataBufferOverflowCallbackContext;
void * currentStringCallbackContext;
void * currentSysexCallbackContext;
void * currentSystemResetCallbackContext;
/* callback functions */
callbackFunction currentAnalogCallback;
callbackFunction currentDigitalCallback;
callbackFunction currentReportAnalogCallback;
callbackFunction currentReportDigitalCallback;
callbackFunction currentPinModeCallback;
callbackFunction currentPinValueCallback;
dataBufferOverflowCallbackFunction currentDataBufferOverflowCallback;
stringCallbackFunction currentStringCallback;
sysexCallbackFunction currentSysexCallback;
versionCallbackFunction currentReportFirmwareCallback;
systemCallbackFunction currentReportVersionCallback;
systemCallbackFunction currentSystemResetCallback;
/* private methods ------------------------------ */
bool bufferDataAtPosition(const uint8_t data, const size_t pos);
size_t decodeByteStream(size_t bytec, uint8_t * bytev);
void processSysexMessage(void);
void systemReset(void);
};
} // firmata
#endif /* FirmataParser_h */

458
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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
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90
arduino/libraries/Firmata/examples/AllInputsFirmata/AllInputsFirmata.ino Normal file
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/*
* 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 click on the following link
* to open the list of Firmata client libraries in your default browser.
*
* https://github.com/firmata/arduino#firmata-client-libraries
*/
/*
* 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(FIRMATA_FIRMWARE_MAJOR_VERSION, FIRMATA_FIRMWARE_MINOR_VERSION);
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;
}
}
}
}

94
arduino/libraries/Firmata/examples/AnalogFirmata/AnalogFirmata.ino Normal file
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/*
* 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 click on the following link
* to open the list of Firmata client libraries in your default browser.
*
* https://github.com/firmata/arduino#firmata-client-libraries
*/
/* 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(FIRMATA_FIRMWARE_MAJOR_VERSION, FIRMATA_FIRMWARE_MINOR_VERSION);
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));
}
}
}

44
arduino/libraries/Firmata/examples/EchoString/EchoString.ino Normal file
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/*
* 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 click on the following link
* to open the list of Firmata client libraries in your default browser.
*
* https://github.com/firmata/arduino#firmata-client-libraries
*/
/* 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(FIRMATA_FIRMWARE_MAJOR_VERSION, FIRMATA_FIRMWARE_MINOR_VERSION);
Firmata.attach(STRING_DATA, stringCallback);
Firmata.attach(START_SYSEX, sysexCallback);
Firmata.begin(57600);
}
void loop()
{
while (Firmata.available()) {
Firmata.processInput();
}
}

458
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GNU LESSER GENERAL PUBLIC LICENSE
Version 2.1, February 1999
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51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
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239
arduino/libraries/Firmata/examples/OldStandardFirmata/OldStandardFirmata.ino Normal file
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/*
* 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 click on the following link
* to open the list of Firmata client libraries in your default browser.
*
* https://github.com/firmata/arduino#firmata-client-libraries
*/
/*
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, PIN_MODE_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));
}
}
}
}

65
arduino/libraries/Firmata/examples/ServoFirmata/ServoFirmata.ino Normal file
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/*
* 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 click on the following link
* to open the list of Firmata client libraries in your default browser.
*
* https://github.com/firmata/arduino#firmata-client-libraries
*/
/* This firmware supports as many servos as possible using the Servo library
* included in Arduino 0017
*
* This example code is in the public domain.
*/
#include <Servo.h>
#include <Firmata.h>
Servo servos[MAX_SERVOS];
byte servoPinMap[TOTAL_PINS];
byte servoCount = 0;
void analogWriteCallback(byte pin, int value)
{
if (IS_PIN_DIGITAL(pin)) {
servos[servoPinMap[pin]].write(value);
}
}
void systemResetCallback()
{
servoCount = 0;
}
void setup()
{
byte pin;
Firmata.setFirmwareVersion(FIRMATA_FIRMWARE_MAJOR_VERSION, FIRMATA_FIRMWARE_MINOR_VERSION);
Firmata.attach(ANALOG_MESSAGE, analogWriteCallback);
Firmata.attach(SYSTEM_RESET, systemResetCallback);
Firmata.begin(57600);
systemResetCallback();
// attach servos from first digital pin up to max number of
// servos supported for the board
for (pin = 0; pin < TOTAL_PINS; pin++) {
if (IS_PIN_DIGITAL(pin)) {
if (servoCount < MAX_SERVOS) {
servoPinMap[pin] = servoCount;
servos[servoPinMap[pin]].attach(PIN_TO_DIGITAL(pin));
servoCount++;
}
}
}
}
void loop()
{
while (Firmata.available())
Firmata.processInput();
}

46
arduino/libraries/Firmata/examples/SimpleAnalogFirmata/SimpleAnalogFirmata.ino Normal file
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/*
* 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 click on the following link
* to open the list of Firmata client libraries in your default browser.
*
* https://github.com/firmata/arduino#firmata-client-libraries
*/
/* 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(FIRMATA_FIRMWARE_MAJOR_VERSION, FIRMATA_FIRMWARE_MINOR_VERSION);
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;
}

72
arduino/libraries/Firmata/examples/SimpleDigitalFirmata/SimpleDigitalFirmata.ino Normal file
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/*
* 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 click on the following link
* to open the list of Firmata client libraries in your default browser.
*
* https://github.com/firmata/arduino#firmata-client-libraries
*/
/* 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(FIRMATA_FIRMWARE_MAJOR_VERSION, FIRMATA_FIRMWARE_MINOR_VERSION);
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();
}
}

458
arduino/libraries/Firmata/examples/StandardFirmata/LICENSE.txt Executable file
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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
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823
arduino/libraries/Firmata/examples/StandardFirmata/StandardFirmata.ino Executable file
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/*
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 click on the following link
to open the list of Firmata client libraries in your default browser.
https://github.com/firmata/arduino#firmata-client-libraries
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) 2009-2016 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.
Last updated August 17th, 2017
*/
#include <Servo.h>
#include <Wire.h>
#include <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 I2C_END_TX_MASK B01000000
#define I2C_STOP_TX 1
#define I2C_RESTART_TX 0
#define I2C_MAX_QUERIES 8
#define I2C_REGISTER_NOT_SPECIFIED -1
// the minimum interval for sampling analog input
#define MINIMUM_SAMPLING_INTERVAL 1
/*==============================================================================
* GLOBAL VARIABLES
*============================================================================*/
#ifdef FIRMATA_SERIAL_FEATURE
SerialFirmata serialFeature;
#endif
/* 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 portConfigInputs[TOTAL_PORTS]; // each bit: 1 = pin in INPUT, 0 = anything else
/* timer variables */
unsigned long currentMillis; // store the current value from millis()
unsigned long previousMillis; // for comparison with currentMillis
unsigned int samplingInterval = 19; // how often to run the main loop (in ms)
/* i2c data */
struct i2c_device_info {
byte addr;
int reg;
byte bytes;
byte stopTX;
};
/* for i2c read continuous more */
i2c_device_info query[I2C_MAX_QUERIES];
byte i2cRxData[64];
boolean isI2CEnabled = false;
signed char queryIndex = -1;
// default delay time between i2c read request and Wire.requestFrom()
unsigned int i2cReadDelayTime = 0;
Servo servos[MAX_SERVOS];
byte servoPinMap[TOTAL_PINS];
byte detachedServos[MAX_SERVOS];
byte detachedServoCount = 0;
byte servoCount = 0;
boolean isResetting = false;
// Forward declare a few functions to avoid compiler errors with older versions
// of the Arduino IDE.
void setPinModeCallback(byte, int);
void reportAnalogCallback(byte analogPin, int value);
void sysexCallback(byte, byte, byte*);
/* utility functions */
void wireWrite(byte data)
{
#if ARDUINO >= 100
Wire.write((byte)data);
#else
Wire.send(data);
#endif
}
byte wireRead(void)
{
#if ARDUINO >= 100
return Wire.read();
#else
return Wire.receive();
#endif
}
/*==============================================================================
* FUNCTIONS
*============================================================================*/
void attachServo(byte pin, int minPulse, int maxPulse)
{
if (servoCount < MAX_SERVOS) {
// reuse indexes of detached servos until all have been reallocated
if (detachedServoCount > 0) {
servoPinMap[pin] = detachedServos[detachedServoCount - 1];
if (detachedServoCount > 0) detachedServoCount--;
} else {
servoPinMap[pin] = servoCount;
servoCount++;
}
if (minPulse > 0 && maxPulse > 0) {
servos[servoPinMap[pin]].attach(PIN_TO_DIGITAL(pin), minPulse, maxPulse);
} else {
servos[servoPinMap[pin]].attach(PIN_TO_DIGITAL(pin));
}
} else {
Firmata.sendString("Max servos attached");
}
}
void detachServo(byte pin)
{
servos[servoPinMap[pin]].detach();
// if we're detaching the last servo, decrement the count
// otherwise store the index of the detached servo
if (servoPinMap[pin] == servoCount && servoCount > 0) {
servoCount--;
} else if (servoCount > 0) {
// keep track of detached servos because we want to reuse their indexes
// before incrementing the count of attached servos
detachedServoCount++;
detachedServos[detachedServoCount - 1] = servoPinMap[pin];
}
servoPinMap[pin] = 255;
}
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, PIN_MODE_I2C);
}
}
isI2CEnabled = true;
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;
}
void readAndReportData(byte address, int theRegister, byte numBytes, byte stopTX) {
// 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 != I2C_REGISTER_NOT_SPECIFIED) {
Wire.beginTransmission(address);
wireWrite((byte)theRegister);
Wire.endTransmission(stopTX); // default = true
// 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()) {
Firmata.sendString("I2C: Too many bytes received");
} else if (numBytes > Wire.available()) {
Firmata.sendString("I2C: Too few bytes received");
}
i2cRxData[0] = address;
i2cRxData[1] = theRegister;
for (int i = 0; i < numBytes && Wire.available(); i++) {
i2cRxData[2 + i] = wireRead();
}
// 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 (Firmata.getPinMode(pin) == PIN_MODE_IGNORE)
return;
if (Firmata.getPinMode(pin) == PIN_MODE_I2C && isI2CEnabled && mode != PIN_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_DIGITAL(pin) && mode != PIN_MODE_SERVO) {
if (servoPinMap[pin] < MAX_SERVOS && servos[servoPinMap[pin]].attached()) {
detachServo(pin);
}
}
if (IS_PIN_ANALOG(pin)) {
reportAnalogCallback(PIN_TO_ANALOG(pin), mode == PIN_MODE_ANALOG ? 1 : 0); // turn on/off reporting
}
if (IS_PIN_DIGITAL(pin)) {
if (mode == INPUT || mode == PIN_MODE_PULLUP) {
portConfigInputs[pin / 8] |= (1 << (pin & 7));
} else {
portConfigInputs[pin / 8] &= ~(1 << (pin & 7));
}
}
Firmata.setPinState(pin, 0);
switch (mode) {
case PIN_MODE_ANALOG:
if (IS_PIN_ANALOG(pin)) {
if (IS_PIN_DIGITAL(pin)) {
pinMode(PIN_TO_DIGITAL(pin), INPUT); // disable output driver
#if ARDUINO <= 100
// deprecated since Arduino 1.0.1 - TODO: drop support in Firmata 2.6
digitalWrite(PIN_TO_DIGITAL(pin), LOW); // disable internal pull-ups
#endif
}
Firmata.setPinMode(pin, PIN_MODE_ANALOG);
}
break;
case INPUT:
if (IS_PIN_DIGITAL(pin)) {
pinMode(PIN_TO_DIGITAL(pin), INPUT); // disable output driver
#if ARDUINO <= 100
// deprecated since Arduino 1.0.1 - TODO: drop support in Firmata 2.6
digitalWrite(PIN_TO_DIGITAL(pin), LOW); // disable internal pull-ups
#endif
Firmata.setPinMode(pin, INPUT);
}
break;
case PIN_MODE_PULLUP:
if (IS_PIN_DIGITAL(pin)) {
pinMode(PIN_TO_DIGITAL(pin), INPUT_PULLUP);
Firmata.setPinMode(pin, PIN_MODE_PULLUP);
Firmata.setPinState(pin, 1);
}
break;
case OUTPUT:
if (IS_PIN_DIGITAL(pin)) {
if (Firmata.getPinMode(pin) == PIN_MODE_PWM) {
// Disable PWM if pin mode was previously set to PWM.
digitalWrite(PIN_TO_DIGITAL(pin), LOW);
}
pinMode(PIN_TO_DIGITAL(pin), OUTPUT);
Firmata.setPinMode(pin, OUTPUT);
}
break;
case PIN_MODE_PWM:
if (IS_PIN_PWM(pin)) {
pinMode(PIN_TO_PWM(pin), OUTPUT);
analogWrite(PIN_TO_PWM(pin), 0);
Firmata.setPinMode(pin, PIN_MODE_PWM);
}
break;
case PIN_MODE_SERVO:
if (IS_PIN_DIGITAL(pin)) {
Firmata.setPinMode(pin, PIN_MODE_SERVO);
if (servoPinMap[pin] == 255 || !servos[servoPinMap[pin]].attached()) {
// pass -1 for min and max pulse values to use default values set
// by Servo library
attachServo(pin, -1, -1);
}
}
break;
case PIN_MODE_I2C:
if (IS_PIN_I2C(pin)) {
// mark the pin as i2c
// the user must call I2C_CONFIG to enable I2C for a device
Firmata.setPinMode(pin, PIN_MODE_I2C);
}
break;
case PIN_MODE_SERIAL:
#ifdef FIRMATA_SERIAL_FEATURE
serialFeature.handlePinMode(pin, PIN_MODE_SERIAL);
#endif
break;
default:
Firmata.sendString("Unknown pin mode"); // TODO: put error msgs in EEPROM
}
// TODO: save status to EEPROM here, if changed
}
/*
* Sets the value of an individual pin. Useful if you want to set a pin value but
* are not tracking the digital port state.
* Can only be used on pins configured as OUTPUT.
* Cannot be used to enable pull-ups on Digital INPUT pins.
*/
void setPinValueCallback(byte pin, int value)
{
if (pin < TOTAL_PINS && IS_PIN_DIGITAL(pin)) {
if (Firmata.getPinMode(pin) == OUTPUT) {
Firmata.setPinState(pin, value);
digitalWrite(PIN_TO_DIGITAL(pin), value);
}
}
}
void analogWriteCallback(byte pin, int value)
{
if (pin < TOTAL_PINS) {
switch (Firmata.getPinMode(pin)) {
case PIN_MODE_SERVO:
if (IS_PIN_DIGITAL(pin))
servos[servoPinMap[pin]].write(value);
Firmata.setPinState(pin, value);
break;
case PIN_MODE_PWM:
if (IS_PIN_PWM(pin))
analogWrite(PIN_TO_PWM(pin), value);
Firmata.setPinState(pin, value);
break;
}
}
}
void digitalWriteCallback(byte port, int value)
{
byte pin, lastPin, pinValue, 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)) {
// do not touch pins in PWM, ANALOG, SERVO or other modes
if (Firmata.getPinMode(pin) == OUTPUT || Firmata.getPinMode(pin) == INPUT) {
pinValue = ((byte)value & mask) ? 1 : 0;
if (Firmata.getPinMode(pin) == OUTPUT) {
pinWriteMask |= mask;
} else if (Firmata.getPinMode(pin) == INPUT && pinValue == 1 && Firmata.getPinState(pin) != 1) {
// only handle INPUT here for backwards compatibility
#if ARDUINO > 100
pinMode(pin, INPUT_PULLUP);
#else
// only write to the INPUT pin to enable pullups if Arduino v1.0.0 or earlier
pinWriteMask |= mask;
#endif
}
Firmata.setPinState(pin, pinValue);
}
}
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);
// prevent during system reset or all analog pin values will be reported
// which may report noise for unconnected analog pins
if (!isResetting) {
// Send pin value immediately. This is helpful when connected via
// ethernet, wi-fi or bluetooth so pin states can be known upon
// reconnecting.
Firmata.sendAnalog(analogPin, analogRead(analogPin));
}
}
}
// TODO: save status to EEPROM here, if changed
}
void reportDigitalCallback(byte port, int value)
{
if (port < TOTAL_PORTS) {
reportPINs[port] = (byte)value;
// Send port value immediately. This is helpful when connected via
// ethernet, wi-fi or bluetooth so pin states can be known upon
// reconnecting.
if (value) outputPort(port, readPort(port, portConfigInputs[port]), true);
}
// 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 stopTX;
byte slaveAddress;
byte data;
int slaveRegister;
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 not supported");
return;
}
else {
slaveAddress = argv[0];
}
// need to invert the logic here since 0 will be default for client
// libraries that have not updated to add support for restart tx
if (argv[1] & I2C_END_TX_MASK) {
stopTX = I2C_RESTART_TX;
}
else {
stopTX = I2C_STOP_TX; // default
}
switch (mode) {
case I2C_WRITE:
Wire.beginTransmission(slaveAddress);
for (byte i = 2; i < argc; i += 2) {
data = argv[i] + (argv[i + 1] << 7);
wireWrite(data);
}
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
}
else {
// a slave register is NOT specified
slaveRegister = I2C_REGISTER_NOT_SPECIFIED;
data = argv[2] + (argv[3] << 7); // bytes to read
}
readAndReportData(slaveAddress, (int)slaveRegister, data, stopTX);
break;
case I2C_READ_CONTINUOUSLY:
if ((queryIndex + 1) >= I2C_MAX_QUERIES) {
// too many queries, just ignore
Firmata.sendString("too many queries");
break;
}
if (argc == 6) {
// a slave register is specified
slaveRegister = argv[2] + (argv[3] << 7);
data = argv[4] + (argv[5] << 7); // bytes to read
}
else {
// a slave register is NOT specified
slaveRegister = (int)I2C_REGISTER_NOT_SPECIFIED;
data = argv[2] + (argv[3] << 7); // bytes to read
}
queryIndex++;
query[queryIndex].addr = slaveAddress;
query[queryIndex].reg = slaveRegister;
query[queryIndex].bytes = data;
query[queryIndex].stopTX = stopTX;
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 {
queryIndexToSkip = 0;
// 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 < I2C_MAX_QUERIES) {
query[i].addr = query[i + 1].addr;
query[i].reg = query[i + 1].reg;
query[i].bytes = query[i + 1].bytes;
query[i].stopTX = query[i + 1].stopTX;
}
}
queryIndex--;
}
break;
default:
break;
}
break;
case I2C_CONFIG:
delayTime = (argv[0] + (argv[1] << 7));
if (argc > 1 && 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_DIGITAL(pin)) {
if (servoPinMap[pin] < MAX_SERVOS && servos[servoPinMap[pin]].attached()) {
detachServo(pin);
}
attachServo(pin, minPulse, maxPulse);
setPinModeCallback(pin, PIN_MODE_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)PIN_MODE_PULLUP);
Firmata.write(1);
Firmata.write((byte)OUTPUT);
Firmata.write(1);
}
if (IS_PIN_ANALOG(pin)) {
Firmata.write(PIN_MODE_ANALOG);
Firmata.write(10); // 10 = 10-bit resolution
}
if (IS_PIN_PWM(pin)) {
Firmata.write(PIN_MODE_PWM);
Firmata.write(DEFAULT_PWM_RESOLUTION);
}
if (IS_PIN_DIGITAL(pin)) {
Firmata.write(PIN_MODE_SERVO);
Firmata.write(14);
}
if (IS_PIN_I2C(pin)) {
Firmata.write(PIN_MODE_I2C);
Firmata.write(1); // TODO: could assign a number to map to SCL or SDA
}
#ifdef FIRMATA_SERIAL_FEATURE
serialFeature.handleCapability(pin);
#endif
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(Firmata.getPinMode(pin));
Firmata.write((byte)Firmata.getPinState(pin) & 0x7F);
if (Firmata.getPinState(pin) & 0xFF80) Firmata.write((byte)(Firmata.getPinState(pin) >> 7) & 0x7F);
if (Firmata.getPinState(pin) & 0xC000) Firmata.write((byte)(Firmata.getPinState(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;
case SERIAL_MESSAGE:
#ifdef FIRMATA_SERIAL_FEATURE
serialFeature.handleSysex(command, argc, argv);
#endif
break;
}
}
/*==============================================================================
* SETUP()
*============================================================================*/
void systemResetCallback()
{
isResetting = true;
// initialize a defalt state
// TODO: option to load config from EEPROM instead of default
#ifdef FIRMATA_SERIAL_FEATURE
serialFeature.reset();
#endif
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;
}
for (byte i = 0; i < TOTAL_PINS; i++) {
// pins with analog capability default to analog input
// otherwise, pins default to digital output
if (IS_PIN_ANALOG(i)) {
// turns off pullup, configures everything
setPinModeCallback(i, PIN_MODE_ANALOG);
} else if (IS_PIN_DIGITAL(i)) {
// sets the output to 0, configures portConfigInputs
setPinModeCallback(i, OUTPUT);
}
servoPinMap[i] = 255;
}
// by default, do not report any analog inputs
analogInputsToReport = 0;
detachedServoCount = 0;
servoCount = 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);
}
*/
isResetting = false;
}
void setup()
{
Firmata.setFirmwareVersion(FIRMATA_FIRMWARE_MAJOR_VERSION, FIRMATA_FIRMWARE_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(SET_DIGITAL_PIN_VALUE, setPinValueCallback);
Firmata.attach(START_SYSEX, sysexCallback);
Firmata.attach(SYSTEM_RESET, systemResetCallback);
// to use a port other than Serial, such as Serial1 on an Arduino Leonardo or Mega,
// Call begin(baud) on the alternate serial port and pass it to Firmata to begin like this:
// Serial1.begin(57600);
// Firmata.begin(Serial1);
// However do not do this if you are using SERIAL_MESSAGE
Firmata.begin(57600);
while (!Serial) {
; // wait for serial port to connect. Needed for ATmega32u4-based boards and Arduino 101
}
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();
/* STREAMREAD - processing incoming messagse as soon as possible, while still
* checking digital inputs. */
while (Firmata.available())
Firmata.processInput();
// TODO - ensure that Stream buffer doesn't go over 60 bytes
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) && Firmata.getPinMode(pin) == PIN_MODE_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, query[i].stopTX);
}
}
}
#ifdef FIRMATA_SERIAL_FEATURE
serialFeature.update();
#endif
}

458
arduino/libraries/Firmata/examples/StandardFirmataBLE/LICENSE.txt Executable file
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@@ -0,0 +1,458 @@
GNU LESSER GENERAL PUBLIC LICENSE
Version 2.1, February 1999
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51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
Everyone is permitted to copy and distribute verbatim copies
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835
arduino/libraries/Firmata/examples/StandardFirmataBLE/StandardFirmataBLE.ino Executable file
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@@ -0,0 +1,835 @@
/*
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 click on the following link
to open the list of Firmata client libraries in your default browser.
https://github.com/firmata/arduino#firmata-client-libraries
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) 2009-2016 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.
Last updated April 15th, 2018
*/
#include <Servo.h>
#include <Wire.h>
#include <Firmata.h>
//#define SERIAL_DEBUG
#include "utility/firmataDebug.h"
/*
* Uncomment the following include to enable interfacing
* with Serial devices via hardware or software serial.
*/
// In order to use software serial, you will need to compile this sketch with
// Arduino IDE v1.6.6 or higher. Hardware serial should work back to Arduino 1.0.
//#include "utility/SerialFirmata.h"
// follow the instructions in bleConfig.h to configure your BLE hardware
#include "bleConfig.h"
#define I2C_WRITE 0x00 //B00000000
#define I2C_READ 0x08 //B00001000
#define I2C_READ_CONTINUOUSLY 0x10 //B00010000
#define I2C_STOP_READING 0x18 //B00011000
#define I2C_READ_WRITE_MODE_MASK 0x18 //B00011000
#define I2C_10BIT_ADDRESS_MODE_MASK 0x20 //B00100000
#define I2C_END_TX_MASK 0x40 //B01000000
#define I2C_STOP_TX 1
#define I2C_RESTART_TX 0
#define I2C_MAX_QUERIES 8
#define I2C_REGISTER_NOT_SPECIFIED -1
// the minimum interval for sampling analog input
#define MINIMUM_SAMPLING_INTERVAL 1
/*==============================================================================
* GLOBAL VARIABLES
*============================================================================*/
#ifdef FIRMATA_SERIAL_FEATURE
SerialFirmata serialFeature;
#endif
/* 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 portConfigInputs[TOTAL_PORTS]; // each bit: 1 = pin in INPUT, 0 = anything else
/* timer variables */
unsigned long currentMillis; // store the current value from millis()
unsigned long previousMillis; // for comparison with currentMillis
unsigned int samplingInterval = 19; // how often to run the main loop (in ms)
/* i2c data */
struct i2c_device_info {
byte addr;
int reg;
byte bytes;
byte stopTX;
};
/* for i2c read continuous more */
i2c_device_info query[I2C_MAX_QUERIES];
byte i2cRxData[64];
boolean isI2CEnabled = false;
signed char queryIndex = -1;
// default delay time between i2c read request and Wire.requestFrom()
unsigned int i2cReadDelayTime = 0;
Servo servos[MAX_SERVOS];
byte servoPinMap[TOTAL_PINS];
byte detachedServos[MAX_SERVOS];
byte detachedServoCount = 0;
byte servoCount = 0;
boolean isResetting = false;
// Forward declare a few functions to avoid compiler errors with older versions
// of the Arduino IDE.
void setPinModeCallback(byte, int);
void reportAnalogCallback(byte analogPin, int value);
void sysexCallback(byte, byte, byte*);
/* utility functions */
void wireWrite(byte data)
{
#if ARDUINO >= 100
Wire.write((byte)data);
#else
Wire.send(data);
#endif
}
byte wireRead(void)
{
#if ARDUINO >= 100
return Wire.read();
#else
return Wire.receive();
#endif
}
/*==============================================================================
* FUNCTIONS
*============================================================================*/
void attachServo(byte pin, int minPulse, int maxPulse)
{
if (servoCount < MAX_SERVOS) {
// reuse indexes of detached servos until all have been reallocated
if (detachedServoCount > 0) {
servoPinMap[pin] = detachedServos[detachedServoCount - 1];
if (detachedServoCount > 0) detachedServoCount--;
} else {
servoPinMap[pin] = servoCount;
servoCount++;
}
if (minPulse > 0 && maxPulse > 0) {
servos[servoPinMap[pin]].attach(PIN_TO_DIGITAL(pin), minPulse, maxPulse);
} else {
servos[servoPinMap[pin]].attach(PIN_TO_DIGITAL(pin));
}
} else {
Firmata.sendString("Max servos attached");
}
}
void detachServo(byte pin)
{
servos[servoPinMap[pin]].detach();
// if we're detaching the last servo, decrement the count
// otherwise store the index of the detached servo
if (servoPinMap[pin] == servoCount && servoCount > 0) {
servoCount--;
} else if (servoCount > 0) {
// keep track of detached servos because we want to reuse their indexes
// before incrementing the count of attached servos
detachedServoCount++;
detachedServos[detachedServoCount - 1] = servoPinMap[pin];
}
servoPinMap[pin] = 255;
}
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, PIN_MODE_I2C);
}
}
isI2CEnabled = true;
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;
}
void readAndReportData(byte address, int theRegister, byte numBytes, byte stopTX) {
// 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 != I2C_REGISTER_NOT_SPECIFIED) {
Wire.beginTransmission(address);
wireWrite((byte)theRegister);
Wire.endTransmission(stopTX); // default = true
// 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()) {
Firmata.sendString("I2C: Too many bytes received");
} else if (numBytes > Wire.available()) {
Firmata.sendString("I2C: Too few bytes received");
}
i2cRxData[0] = address;
i2cRxData[1] = theRegister;
for (int i = 0; i < numBytes && Wire.available(); i++) {
i2cRxData[2 + i] = wireRead();
}
// 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 (Firmata.getPinMode(pin) == PIN_MODE_IGNORE)
return;
if (Firmata.getPinMode(pin) == PIN_MODE_I2C && isI2CEnabled && mode != PIN_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_DIGITAL(pin) && mode != PIN_MODE_SERVO) {
if (servoPinMap[pin] < MAX_SERVOS && servos[servoPinMap[pin]].attached()) {
detachServo(pin);
}
}
if (IS_PIN_ANALOG(pin)) {
reportAnalogCallback(PIN_TO_ANALOG(pin), mode == PIN_MODE_ANALOG ? 1 : 0); // turn on/off reporting
}
if (IS_PIN_DIGITAL(pin)) {
if (mode == INPUT || mode == PIN_MODE_PULLUP) {
portConfigInputs[pin / 8] |= (1 << (pin & 7));
} else {
portConfigInputs[pin / 8] &= ~(1 << (pin & 7));
}
}
Firmata.setPinState(pin, 0);
switch (mode) {
case PIN_MODE_ANALOG:
if (IS_PIN_ANALOG(pin)) {
if (IS_PIN_DIGITAL(pin)) {
pinMode(PIN_TO_DIGITAL(pin), INPUT); // disable output driver
#if ARDUINO <= 100
// deprecated since Arduino 1.0.1 - TODO: drop support in Firmata 2.6
digitalWrite(PIN_TO_DIGITAL(pin), LOW); // disable internal pull-ups
#endif
}
Firmata.setPinMode(pin, PIN_MODE_ANALOG);
}
break;
case INPUT:
if (IS_PIN_DIGITAL(pin)) {
pinMode(PIN_TO_DIGITAL(pin), INPUT); // disable output driver
#if ARDUINO <= 100
// deprecated since Arduino 1.0.1 - TODO: drop support in Firmata 2.6
digitalWrite(PIN_TO_DIGITAL(pin), LOW); // disable internal pull-ups
#endif
Firmata.setPinMode(pin, INPUT);
}
break;
case PIN_MODE_PULLUP:
if (IS_PIN_DIGITAL(pin)) {
pinMode(PIN_TO_DIGITAL(pin), INPUT_PULLUP);
Firmata.setPinMode(pin, PIN_MODE_PULLUP);
Firmata.setPinState(pin, 1);
}
break;
case OUTPUT:
if (IS_PIN_DIGITAL(pin)) {
if (Firmata.getPinMode(pin) == PIN_MODE_PWM) {
// Disable PWM if pin mode was previously set to PWM.
digitalWrite(PIN_TO_DIGITAL(pin), LOW);
}
pinMode(PIN_TO_DIGITAL(pin), OUTPUT);
Firmata.setPinMode(pin, OUTPUT);
}
break;
case PIN_MODE_PWM:
if (IS_PIN_PWM(pin)) {
pinMode(PIN_TO_PWM(pin), OUTPUT);
analogWrite(PIN_TO_PWM(pin), 0);
Firmata.setPinMode(pin, PIN_MODE_PWM);
}
break;
case PIN_MODE_SERVO:
if (IS_PIN_DIGITAL(pin)) {
Firmata.setPinMode(pin, PIN_MODE_SERVO);
if (servoPinMap[pin] == 255 || !servos[servoPinMap[pin]].attached()) {
// pass -1 for min and max pulse values to use default values set
// by Servo library
attachServo(pin, -1, -1);
}
}
break;
case PIN_MODE_I2C:
if (IS_PIN_I2C(pin)) {
// mark the pin as i2c
// the user must call I2C_CONFIG to enable I2C for a device
Firmata.setPinMode(pin, PIN_MODE_I2C);
}
break;
case PIN_MODE_SERIAL:
#ifdef FIRMATA_SERIAL_FEATURE
serialFeature.handlePinMode(pin, PIN_MODE_SERIAL);
#endif
break;
default:
Firmata.sendString("Unknown pin mode"); // TODO: put error msgs in EEPROM
}
// TODO: save status to EEPROM here, if changed
}
/*
* Sets the value of an individual pin. Useful if you want to set a pin value but
* are not tracking the digital port state.
* Can only be used on pins configured as OUTPUT.
* Cannot be used to enable pull-ups on Digital INPUT pins.
*/
void setPinValueCallback(byte pin, int value)
{
if (pin < TOTAL_PINS && IS_PIN_DIGITAL(pin)) {
if (Firmata.getPinMode(pin) == OUTPUT) {
Firmata.setPinState(pin, value);
digitalWrite(PIN_TO_DIGITAL(pin), value);
}
}
}
void analogWriteCallback(byte pin, int value)
{
if (pin < TOTAL_PINS) {
switch (Firmata.getPinMode(pin)) {
case PIN_MODE_SERVO:
if (IS_PIN_DIGITAL(pin))
servos[servoPinMap[pin]].write(value);
Firmata.setPinState(pin, value);
break;
case PIN_MODE_PWM:
if (IS_PIN_PWM(pin))
analogWrite(PIN_TO_PWM(pin), value);
Firmata.setPinState(pin, value);
break;
}
}
}
void digitalWriteCallback(byte port, int value)
{
byte pin, lastPin, pinValue, 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)) {
// do not touch pins in PWM, ANALOG, SERVO or other modes
if (Firmata.getPinMode(pin) == OUTPUT || Firmata.getPinMode(pin) == INPUT) {
pinValue = ((byte)value & mask) ? 1 : 0;
if (Firmata.getPinMode(pin) == OUTPUT) {
pinWriteMask |= mask;
} else if (Firmata.getPinMode(pin) == INPUT && pinValue == 1 && Firmata.getPinState(pin) != 1) {
// only handle INPUT here for backwards compatibility
#if ARDUINO > 100
pinMode(pin, INPUT_PULLUP);
#else
// only write to the INPUT pin to enable pullups if Arduino v1.0.0 or earlier
pinWriteMask |= mask;
#endif
}
Firmata.setPinState(pin, pinValue);
}
}
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);
// prevent during system reset or all analog pin values will be reported
// which may report noise for unconnected analog pins
if (!isResetting) {
// Send pin value immediately. This is helpful when connected via
// ethernet, wi-fi or bluetooth so pin states can be known upon
// reconnecting.
Firmata.sendAnalog(analogPin, analogRead(analogPin));
}
}
}
// TODO: save status to EEPROM here, if changed
}
void reportDigitalCallback(byte port, int value)
{
if (port < TOTAL_PORTS) {
reportPINs[port] = (byte)value;
// Send port value immediately. This is helpful when connected via
// ethernet, wi-fi or bluetooth so pin states can be known upon
// reconnecting.
if (value) outputPort(port, readPort(port, portConfigInputs[port]), true);
}
// 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 stopTX;
byte slaveAddress;
byte data;
int slaveRegister;
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 not supported");
return;
}
else {
slaveAddress = argv[0];
}
// need to invert the logic here since 0 will be default for client
// libraries that have not updated to add support for restart tx
if (argv[1] & I2C_END_TX_MASK) {
stopTX = I2C_RESTART_TX;
}
else {
stopTX = I2C_STOP_TX; // default
}
switch (mode) {
case I2C_WRITE:
Wire.beginTransmission(slaveAddress);
for (byte i = 2; i < argc; i += 2) {
data = argv[i] + (argv[i + 1] << 7);
wireWrite(data);
}
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
}
else {
// a slave register is NOT specified
slaveRegister = I2C_REGISTER_NOT_SPECIFIED;
data = argv[2] + (argv[3] << 7); // bytes to read
}
readAndReportData(slaveAddress, (int)slaveRegister, data, stopTX);
break;
case I2C_READ_CONTINUOUSLY:
if ((queryIndex + 1) >= I2C_MAX_QUERIES) {
// too many queries, just ignore
Firmata.sendString("too many queries");
break;
}
if (argc == 6) {
// a slave register is specified
slaveRegister = argv[2] + (argv[3] << 7);
data = argv[4] + (argv[5] << 7); // bytes to read
}
else {
// a slave register is NOT specified
slaveRegister = (int)I2C_REGISTER_NOT_SPECIFIED;
data = argv[2] + (argv[3] << 7); // bytes to read
}
queryIndex++;
query[queryIndex].addr = slaveAddress;
query[queryIndex].reg = slaveRegister;
query[queryIndex].bytes = data;
query[queryIndex].stopTX = stopTX;
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 {
queryIndexToSkip = 0;
// 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 < I2C_MAX_QUERIES) {
query[i].addr = query[i + 1].addr;
query[i].reg = query[i + 1].reg;
query[i].bytes = query[i + 1].bytes;
query[i].stopTX = query[i + 1].stopTX;
}
}
queryIndex--;
}
break;
default:
break;
}
break;
case I2C_CONFIG:
delayTime = (argv[0] + (argv[1] << 7));
if (argc > 1 && 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_DIGITAL(pin)) {
if (servoPinMap[pin] < MAX_SERVOS && servos[servoPinMap[pin]].attached()) {
detachServo(pin);
}
attachServo(pin, minPulse, maxPulse);
setPinModeCallback(pin, PIN_MODE_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)PIN_MODE_PULLUP);
Firmata.write(1);
Firmata.write((byte)OUTPUT);
Firmata.write(1);
}
if (IS_PIN_ANALOG(pin)) {
Firmata.write(PIN_MODE_ANALOG);
Firmata.write(10); // 10 = 10-bit resolution
}
if (IS_PIN_PWM(pin)) {
Firmata.write(PIN_MODE_PWM);
Firmata.write(8); // 8 = 8-bit resolution
}
if (IS_PIN_DIGITAL(pin)) {
Firmata.write(PIN_MODE_SERVO);
Firmata.write(14);
}
if (IS_PIN_I2C(pin)) {
Firmata.write(PIN_MODE_I2C);
Firmata.write(1); // TODO: could assign a number to map to SCL or SDA
}
#ifdef FIRMATA_SERIAL_FEATURE
serialFeature.handleCapability(pin);
#endif
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(Firmata.getPinMode(pin));
Firmata.write((byte)Firmata.getPinState(pin) & 0x7F);
if (Firmata.getPinState(pin) & 0xFF80) Firmata.write((byte)(Firmata.getPinState(pin) >> 7) & 0x7F);
if (Firmata.getPinState(pin) & 0xC000) Firmata.write((byte)(Firmata.getPinState(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;
case SERIAL_MESSAGE:
#ifdef FIRMATA_SERIAL_FEATURE
serialFeature.handleSysex(command, argc, argv);
#endif
break;
}
}
/*==============================================================================
* SETUP()
*============================================================================*/
void systemResetCallback()
{
isResetting = true;
#ifdef FIRMATA_SERIAL_FEATURE
serialFeature.reset();
#endif
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;
}
for (byte i = 0; i < TOTAL_PINS; i++) {
// pins with analog capability default to analog input
// otherwise, pins default to digital output
if (IS_PIN_ANALOG(i)) {
// turns off pullup, configures everything
setPinModeCallback(i, PIN_MODE_ANALOG);
} else if (IS_PIN_DIGITAL(i)) {
// sets the output to 0, configures portConfigInputs
setPinModeCallback(i, OUTPUT);
}
servoPinMap[i] = 255;
}
// by default, do not report any analog inputs
analogInputsToReport = 0;
detachedServoCount = 0;
servoCount = 0;
isResetting = false;
}
void setup()
{
DEBUG_BEGIN(9600);
Firmata.setFirmwareVersion(FIRMATA_FIRMWARE_MAJOR_VERSION, FIRMATA_FIRMWARE_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(SET_DIGITAL_PIN_VALUE, setPinValueCallback);
Firmata.attach(START_SYSEX, sysexCallback);
Firmata.attach(SYSTEM_RESET, systemResetCallback);
stream.setLocalName(FIRMATA_BLE_LOCAL_NAME);
// set the BLE connection interval - this is the fastest interval you can read inputs
stream.setConnectionInterval(FIRMATA_BLE_MIN_INTERVAL, FIRMATA_BLE_MAX_INTERVAL);
// set how often the BLE TX buffer is flushed (if not full)
stream.setFlushInterval(FIRMATA_BLE_TXBUFFER_FLUSH_INTERVAL);
#ifdef IS_IGNORE_BLE_PINS
for (byte i = 0; i < TOTAL_PINS; i++) {
if (IS_IGNORE_BLE_PINS(i)) {
Firmata.setPinMode(i, PIN_MODE_IGNORE);
}
}
#endif
stream.begin();
Firmata.begin(stream);
systemResetCallback(); // reset to default config
}
/*==============================================================================
* LOOP()
*============================================================================*/
void loop()
{
byte pin, analogPin;
// do not process data if no BLE connection is established
// poll will send the TX buffer at the specified flush interval or when the buffer is full
if (!stream.poll()) return;
/* DIGITALREAD - as fast as possible, check for changes and output them to the
* Stream buffer using Stream.write() */
checkDigitalInputs();
/* STREAMREAD - processing incoming messagse as soon as possible, while still
* checking digital inputs. */
while (Firmata.available())
Firmata.processInput();
currentMillis = millis();
if (currentMillis - previousMillis > samplingInterval) {
previousMillis = currentMillis;
/* ANALOGREAD - do all analogReads() at the configured sampling interval */
for (pin = 0; pin < TOTAL_PINS; pin++) {
if (IS_PIN_ANALOG(pin) && Firmata.getPinMode(pin) == PIN_MODE_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, query[i].stopTX);
}
}
}
#ifdef FIRMATA_SERIAL_FEATURE
serialFeature.update();
#endif
}

168
arduino/libraries/Firmata/examples/StandardFirmataBLE/bleConfig.h Normal file
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/*==================================================================================================
* BLE CONFIGURATION
*
* If you are using an Arduino 101, you do not need to make any changes to this file (unless you
* need a unique ble local name (see below). If you are using another supported BLE board or shield,
* follow the instructions for the specific board or shield below.
*
* Make sure you have the Intel Curie Boards package v2.0.2 or higher installed via the Arduino
* Boards Manager.
*
* Supported boards and shields:
* - Arduino 101 (recommended)
* - RedBearLab BLE Shield (v2) ** to be verified **
* - RedBearLab BLE Nano ** works with modifications **
* - Adafruit Feather M0 Bluefruit LE
*
*================================================================================================*/
// change this to a unique name per board if running StandardFirmataBLE on multiple boards
// within the same physical space
#define FIRMATA_BLE_LOCAL_NAME "FIRMATA"
/*
* Arduino 101
*
* Make sure you have the Intel Curie Boards package v2.0.2 or higher installed via the Arduino
* Boards Manager.
*
* Test script: https://gist.github.com/soundanalogous/927360b797574ed50e27
*/
#ifdef _VARIANT_ARDUINO_101_X_
// After conversion to units of 1.25ms, both values must be between
// 0x0006 (7.5ms) and 0x0c80 (4s)
#define FIRMATA_BLE_MIN_INTERVAL 8 // ( 8 * 1000) / 1250 == 0x06 -> 7.5ms
#define FIRMATA_BLE_MAX_INTERVAL 30 // (30 * 1000) / 1250 == 0x18 -> 30ms
#endif
/*
* RedBearLab BLE Shield
*
* If you are using a RedBearLab BLE shield, uncomment the define below.
* Also, change the define for BLE_RST if you have the jumper set to pin 7 rather than pin 4.
*
* You will need to use the shield with an Arduino Zero, Due, Mega, or other board with sufficient
* Flash and RAM. Arduino Uno, Leonardo and other ATmega328p and Atmega32u4 boards to not have
* enough memory to run StandardFirmataBLE.
*
* TODO: verify if this works and with which boards it works.
*
* Test script: https://gist.github.com/soundanalogous/927360b797574ed50e27
*/
//#define REDBEAR_BLE_SHIELD
#ifdef REDBEAR_BLE_SHIELD
#define BLE_REQ 9
#define BLE_RDY 8
#define BLE_RST 4 // 4 or 7 via jumper on shield
#endif
/*
* Adafruit Feather M0 Bluefruit LE
*
* If you are using an Adafruit Feather M0 Bluefruit LE, uncomment the define below.
* This configuration should also work with other Bluefruit LE boards/modules that communicate
* with the nRF51822 via SPI (e.g. Bluefruit LE SPI Friend, Bluefruit LE Shield), although
* you may need to change the values of BLE_SPI_CS, BLE_SPI_IRQ, and/or BLE_SPI_RST below.
*
* You will need to install a lightly-modified version of the Adafruit BluefruitLE nRF51
* package, available at:
* https://github.com/cstawarz/Adafruit_BluefruitLE_nRF51/archive/firmata_fixes.zip
*/
//#define BLUEFRUIT_LE_SPI
#ifdef BLUEFRUIT_LE_SPI
// Both values must be between 10ms and 4s
#define FIRMATA_BLE_MIN_INTERVAL 10 // 10ms
#define FIRMATA_BLE_MAX_INTERVAL 20 // 20ms
#define BLE_SPI_CS 8
#define BLE_SPI_IRQ 7
#define BLE_SPI_RST 4
#endif
/*
* Generic settings
*/
#if !defined(FIRMATA_BLE_MIN_INTERVAL) && !defined(FIRMATA_BLE_MAX_INTERVAL)
// These values apply to all devices using the Arduino BLEPeripheral library
// with a Nordic nRF8001 or nRF51822. Both values must be between
// 0x0006 (7.5ms) and 0x0c80 (4s).
#define FIRMATA_BLE_MIN_INTERVAL 0x0006 // 7.5ms (7.5 / 1.25)
#define FIRMATA_BLE_MAX_INTERVAL 0x0018 // 30ms (30 / 1.25)
#endif
#if !defined(FIRMATA_BLE_TXBUFFER_FLUSH_INTERVAL)
#define FIRMATA_BLE_TXBUFFER_FLUSH_INTERVAL 30 // 30ms
#endif
/*==================================================================================================
* END BLE CONFIGURATION - you should not need to change anything below this line
*================================================================================================*/
#ifdef _VARIANT_ARDUINO_101_X_
#include "utility/BLEStream.h"
BLEStream stream;
#endif
#ifdef REDBEAR_BLE_SHIELD
#include <SPI.h>
#include "utility/BLEStream.h"
BLEStream stream(BLE_REQ, BLE_RDY, BLE_RST);
#endif
#ifdef BLUEFRUIT_LE_SPI
#include "utility/BluefruitLE_SPI_Stream.h"
BluefruitLE_SPI_Stream stream(BLE_SPI_CS, BLE_SPI_IRQ, BLE_SPI_RST);
#endif
/*
* RedBearLab BLE Nano (with default switch settings)
*
* Blocked on this issue: https://github.com/RedBearLab/nRF51822-Arduino/issues/46
* Works with modifications. See comments at top of the test script referenced below.
* When the RBL nRF51822-Arduino library issue is resolved, this should work witout
* any modifications.
*
* Test script: https://gist.github.com/soundanalogous/d39bb3eb36333a0906df
*
* Note: If you have changed the solder jumpers on the Nano you may encounter issues since
* the pins are currently mapped in Firmata only for the default (factory) jumper settings.
*/
// #ifdef BLE_NANO
// #include "utility/BLEStream.h"
// BLEStream stream;
// #endif
/*
* RedBearLab Blend and Blend Micro
*
* StandardFirmataBLE requires too much Flash and RAM to run on the ATmega32u4-based Blend
* and Blend Micro boards. It may work with ConfigurableFirmata selecting only analog and/or
* digital I/O.
*/
// #if defined(BLEND_MICRO) || defined(BLEND)
// #include <SPI.h>
// #include "utility/BLEStream.h"
// #define BLE_REQ 6
// #define BLE_RDY 7
// #define BLE_RST 4
// BLEStream stream(BLE_REQ, BLE_RDY, BLE_RST);
// #endif
#if defined(BLE_REQ) && defined(BLE_RDY) && defined(BLE_RST)
#define IS_IGNORE_BLE_PINS(p) ((p) == BLE_REQ || (p) == BLE_RDY || (p) == BLE_RST)
#elif defined(BLE_SPI_CS) && defined(BLE_SPI_IRQ) && defined(BLE_SPI_RST)
#define IS_IGNORE_BLE_PINS(p) ((p) == BLE_SPI_CS || (p) == BLE_SPI_IRQ || (p) == BLE_SPI_RST)
#endif

458
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802
arduino/libraries/Firmata/examples/StandardFirmataChipKIT/StandardFirmataChipKIT.ino Normal file
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/*
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 click on the following link
to open the list of Firmata client libraries in your default browser.
https://github.com/firmata/arduino#firmata-client-libraries
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) 2009-2016 Jeff Hoefs. All rights reserved.
Copyright (C) 2015 Brian Schmalz. 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.
Last updated August 17th, 2017
*/
#include <SoftPWMServo.h> // Gives us PWM and Servo on every pin
#include <Wire.h>
#include <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 I2C_END_TX_MASK B01000000
#define I2C_STOP_TX 1
#define I2C_RESTART_TX 0
#define I2C_MAX_QUERIES 8
#define I2C_REGISTER_NOT_SPECIFIED -1
// the minimum interval for sampling analog input
#define MINIMUM_SAMPLING_INTERVAL 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 portConfigInputs[TOTAL_PORTS]; // each bit: 1 = pin in INPUT, 0 = anything else
/* timer variables */
unsigned long currentMillis; // store the current value from millis()
unsigned long previousMillis; // for comparison with currentMillis
unsigned int samplingInterval = 19; // how often to run the main loop (in ms)
/* i2c data */
struct i2c_device_info {
byte addr;
int reg;
byte bytes;
byte stopTX;
};
/* for i2c read continuous more */
i2c_device_info query[I2C_MAX_QUERIES];
byte i2cRxData[64];
boolean isI2CEnabled = false;
signed char queryIndex = -1;
// default delay time between i2c read request and Wire.requestFrom()
unsigned int i2cReadDelayTime = 0;
SoftServo servos[MAX_SERVOS];
byte servoPinMap[TOTAL_PINS];
byte detachedServos[MAX_SERVOS];
byte detachedServoCount = 0;
byte servoCount = 0;
boolean isResetting = false;
// Forward declare a few functions to avoid compiler errors with older versions
// of the Arduino IDE.
void setPinModeCallback(byte, int);
void reportAnalogCallback(byte analogPin, int value);
void sysexCallback(byte, byte, byte*);
/* utility functions */
void wireWrite(byte data)
{
#if ARDUINO >= 100
Wire.write((byte)data);
#else
Wire.send(data);
#endif
}
byte wireRead(void)
{
#if ARDUINO >= 100
return Wire.read();
#else
return Wire.receive();
#endif
}
/*==============================================================================
* FUNCTIONS
*============================================================================*/
void attachServo(byte pin, int minPulse, int maxPulse)
{
if (servoCount < MAX_SERVOS) {
// reuse indexes of detached servos until all have been reallocated
if (detachedServoCount > 0) {
servoPinMap[pin] = detachedServos[detachedServoCount - 1];
if (detachedServoCount > 0) detachedServoCount--;
} else {
servoPinMap[pin] = servoCount;
servoCount++;
}
if (minPulse > 0 && maxPulse > 0) {
servos[servoPinMap[pin]].attach(PIN_TO_DIGITAL(pin), minPulse, maxPulse);
} else {
servos[servoPinMap[pin]].attach(PIN_TO_DIGITAL(pin));
}
} else {
Firmata.sendString("Max servos attached");
}
}
void detachServo(byte pin)
{
servos[servoPinMap[pin]].detach();
// if we're detaching the last servo, decrement the count
// otherwise store the index of the detached servo
if (servoPinMap[pin] == servoCount && servoCount > 0) {
servoCount--;
} else if (servoCount > 0) {
// keep track of detached servos because we want to reuse their indexes
// before incrementing the count of attached servos
detachedServoCount++;
detachedServos[detachedServoCount - 1] = servoPinMap[pin];
}
servoPinMap[pin] = 255;
}
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, PIN_MODE_I2C);
}
}
isI2CEnabled = true;
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;
}
void readAndReportData(byte address, int theRegister, byte numBytes, byte stopTX) {
// 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 != I2C_REGISTER_NOT_SPECIFIED) {
Wire.beginTransmission(address);
wireWrite((byte)theRegister);
Wire.endTransmission(stopTX); // default = true
// 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()) {
Firmata.sendString("I2C: Too many bytes received");
} else if (numBytes > Wire.available()) {
Firmata.sendString("I2C: Too few bytes received");
}
i2cRxData[0] = address;
i2cRxData[1] = theRegister;
for (int i = 0; i < numBytes && Wire.available(); i++) {
i2cRxData[2 + i] = wireRead();
}
// 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 a pin that is in Servo mode to a particular output value
* (i.e. pulse width). Different boards may have different ways of
* setting servo values, so putting it in a function keeps things cleaner.
*/
void servoWrite(byte pin, int value)
{
SoftPWMServoPWMWrite(PIN_TO_PWM(pin), value);
}
// -----------------------------------------------------------------------------
/* 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 (Firmata.getPinMode(pin) == PIN_MODE_IGNORE)
return;
if (Firmata.getPinMode(pin) == PIN_MODE_I2C && isI2CEnabled && mode != PIN_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_DIGITAL(pin) && mode != PIN_MODE_SERVO) {
if (servoPinMap[pin] < MAX_SERVOS && servos[servoPinMap[pin]].attached()) {
detachServo(pin);
}
}
if (IS_PIN_ANALOG(pin)) {
reportAnalogCallback(PIN_TO_ANALOG(pin), mode == PIN_MODE_ANALOG ? 1 : 0); // turn on/off reporting
}
if (IS_PIN_DIGITAL(pin)) {
if (mode == INPUT || mode == PIN_MODE_PULLUP) {
portConfigInputs[pin / 8] |= (1 << (pin & 7));
} else {
portConfigInputs[pin / 8] &= ~(1 << (pin & 7));
}
}
Firmata.setPinState(pin, 0);
switch (mode) {
case PIN_MODE_ANALOG:
if (IS_PIN_ANALOG(pin)) {
if (IS_PIN_DIGITAL(pin)) {
pinMode(PIN_TO_DIGITAL(pin), INPUT); // disable output driver
#if ARDUINO <= 100
// deprecated since Arduino 1.0.1 - TODO: drop support in Firmata 2.6
digitalWrite(PIN_TO_DIGITAL(pin), LOW); // disable internal pull-ups
#endif
}
Firmata.setPinMode(pin, PIN_MODE_ANALOG);
}
break;
case INPUT:
if (IS_PIN_DIGITAL(pin)) {
pinMode(PIN_TO_DIGITAL(pin), INPUT); // disable output driver
#if ARDUINO <= 100
// deprecated since Arduino 1.0.1 - TODO: drop support in Firmata 2.6
digitalWrite(PIN_TO_DIGITAL(pin), LOW); // disable internal pull-ups
#endif
Firmata.setPinMode(pin, INPUT);
}
break;
case PIN_MODE_PULLUP:
if (IS_PIN_DIGITAL(pin)) {
pinMode(PIN_TO_DIGITAL(pin), INPUT_PULLUP);
Firmata.setPinMode(pin, PIN_MODE_PULLUP);
Firmata.setPinState(pin, 1);
}
break;
case OUTPUT:
if (IS_PIN_DIGITAL(pin)) {
if (Firmata.getPinMode(pin) == PIN_MODE_PWM) {
// Disable PWM if pin mode was previously set to PWM.
digitalWrite(PIN_TO_DIGITAL(pin), LOW);
}
pinMode(PIN_TO_DIGITAL(pin), OUTPUT);
Firmata.setPinMode(pin, OUTPUT);
}
break;
case PIN_MODE_PWM:
if (IS_PIN_PWM(pin)) {
pinMode(PIN_TO_PWM(pin), OUTPUT);
servoWrite(PIN_TO_PWM(pin), 0);
Firmata.setPinMode(pin, PIN_MODE_PWM);
}
break;
case PIN_MODE_SERVO:
if (IS_PIN_DIGITAL(pin)) {
Firmata.setPinMode(pin, PIN_MODE_SERVO);
if (servoPinMap[pin] == 255 || !servos[servoPinMap[pin]].attached()) {
// pass -1 for min and max pulse values to use default values set
// by Servo library
attachServo(pin, -1, -1);
}
}
break;
case PIN_MODE_I2C:
if (IS_PIN_I2C(pin)) {
// mark the pin as i2c
// the user must call I2C_CONFIG to enable I2C for a device
Firmata.setPinMode(pin, PIN_MODE_I2C);
}
break;
default:
Firmata.sendString("Unknown pin mode"); // TODO: put error msgs in EEPROM
}
// TODO: save status to EEPROM here, if changed
}
/*
* Sets the value of an individual pin. Useful if you want to set a pin value but
* are not tracking the digital port state.
* Can only be used on pins configured as OUTPUT.
* Cannot be used to enable pull-ups on Digital INPUT pins.
*/
void setPinValueCallback(byte pin, int value)
{
if (pin < TOTAL_PINS && IS_PIN_DIGITAL(pin)) {
if (Firmata.getPinMode(pin) == OUTPUT) {
Firmata.setPinState(pin, value);
digitalWrite(PIN_TO_DIGITAL(pin), value);
}
}
}
void analogWriteCallback(byte pin, int value)
{
if (pin < TOTAL_PINS) {
switch (Firmata.getPinMode(pin)) {
case PIN_MODE_SERVO:
if (IS_PIN_DIGITAL(pin))
servos[servoPinMap[pin]].write(value);
Firmata.setPinState(pin, value);
break;
case PIN_MODE_PWM:
if (IS_PIN_PWM(pin))
servoWrite(PIN_TO_PWM(pin), value);
Firmata.setPinState(pin, value);
break;
}
}
}
void digitalWriteCallback(byte port, int value)
{
byte pin, lastPin, pinValue, 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)) {
// do not touch pins in PWM, ANALOG, SERVO or other modes
if (Firmata.getPinMode(pin) == OUTPUT || Firmata.getPinMode(pin) == INPUT) {
pinValue = ((byte)value & mask) ? 1 : 0;
if (Firmata.getPinMode(pin) == OUTPUT) {
pinWriteMask |= mask;
} else if (Firmata.getPinMode(pin) == INPUT && pinValue == 1 && Firmata.getPinState(pin) != 1) {
// only handle INPUT here for backwards compatibility
#if ARDUINO > 100
pinMode(pin, INPUT_PULLUP);
#else
// only write to the INPUT pin to enable pullups if Arduino v1.0.0 or earlier
pinWriteMask |= mask;
#endif
}
Firmata.setPinState(pin, pinValue);
}
}
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);
// prevent during system reset or all analog pin values will be reported
// which may report noise for unconnected analog pins
if (!isResetting) {
// Send pin value immediately. This is helpful when connected via
// ethernet, wi-fi or bluetooth so pin states can be known upon
// reconnecting.
Firmata.sendAnalog(analogPin, analogRead(analogPin));
}
}
}
// TODO: save status to EEPROM here, if changed
}
void reportDigitalCallback(byte port, int value)
{
if (port < TOTAL_PORTS) {
reportPINs[port] = (byte)value;
// Send port value immediately. This is helpful when connected via
// ethernet, wi-fi or bluetooth so pin states can be known upon
// reconnecting.
if (value) outputPort(port, readPort(port, portConfigInputs[port]), true);
}
// 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 stopTX;
byte slaveAddress;
byte data;
int slaveRegister;
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 not supported");
return;
}
else {
slaveAddress = argv[0];
}
// need to invert the logic here since 0 will be default for client
// libraries that have not updated to add support for restart tx
if (argv[1] & I2C_END_TX_MASK) {
stopTX = I2C_RESTART_TX;
}
else {
stopTX = I2C_STOP_TX; // default
}
switch (mode) {
case I2C_WRITE:
Wire.beginTransmission(slaveAddress);
for (byte i = 2; i < argc; i += 2) {
data = argv[i] + (argv[i + 1] << 7);
wireWrite(data);
}
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
}
else {
// a slave register is NOT specified
slaveRegister = I2C_REGISTER_NOT_SPECIFIED;
data = argv[2] + (argv[3] << 7); // bytes to read
}
readAndReportData(slaveAddress, (int)slaveRegister, data, stopTX);
break;
case I2C_READ_CONTINUOUSLY:
if ((queryIndex + 1) >= I2C_MAX_QUERIES) {
// too many queries, just ignore
Firmata.sendString("too many queries");
break;
}
if (argc == 6) {
// a slave register is specified
slaveRegister = argv[2] + (argv[3] << 7);
data = argv[4] + (argv[5] << 7); // bytes to read
}
else {
// a slave register is NOT specified
slaveRegister = (int)I2C_REGISTER_NOT_SPECIFIED;
data = argv[2] + (argv[3] << 7); // bytes to read
}
queryIndex++;
query[queryIndex].addr = slaveAddress;
query[queryIndex].reg = slaveRegister;
query[queryIndex].bytes = data;
query[queryIndex].stopTX = stopTX;
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 {
queryIndexToSkip = 0;
// 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 < I2C_MAX_QUERIES) {
query[i].addr = query[i + 1].addr;
query[i].reg = query[i + 1].reg;
query[i].bytes = query[i + 1].bytes;
query[i].stopTX = query[i + 1].stopTX;
}
}
queryIndex--;
}
break;
default:
break;
}
break;
case I2C_CONFIG:
delayTime = (argv[0] + (argv[1] << 7));
if (argc > 1 && 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_DIGITAL(pin)) {
if (servoPinMap[pin] < MAX_SERVOS && servos[servoPinMap[pin]].attached()) {
detachServo(pin);
}
attachServo(pin, minPulse, maxPulse);
setPinModeCallback(pin, PIN_MODE_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)PIN_MODE_PULLUP);
Firmata.write(1);
Firmata.write((byte)OUTPUT);
Firmata.write(1);
}
if (IS_PIN_ANALOG(pin)) {
Firmata.write(PIN_MODE_ANALOG);
Firmata.write(10); // 10 = 10-bit resolution
}
if (IS_PIN_PWM(pin)) {
Firmata.write(PIN_MODE_PWM);
Firmata.write(DEFAULT_PWM_RESOLUTION);
}
if (IS_PIN_DIGITAL(pin)) {
Firmata.write(PIN_MODE_SERVO);
Firmata.write(14);
}
if (IS_PIN_I2C(pin)) {
Firmata.write(PIN_MODE_I2C);
Firmata.write(1); // TODO: could assign a number to map to SCL or SDA
}
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(Firmata.getPinMode(pin));
Firmata.write((byte)Firmata.getPinState(pin) & 0x7F);
if (Firmata.getPinState(pin) & 0xFF80) Firmata.write((byte)(Firmata.getPinState(pin) >> 7) & 0x7F);
if (Firmata.getPinState(pin) & 0xC000) Firmata.write((byte)(Firmata.getPinState(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;
}
}
/*==============================================================================
* SETUP()
*============================================================================*/
void systemResetCallback()
{
isResetting = true;
// 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;
}
for (byte i = 0; i < TOTAL_PINS; i++) {
// pins with analog capability default to analog input
// otherwise, pins default to digital output
if (IS_PIN_ANALOG(i)) {
// turns off pullup, configures everything
setPinModeCallback(i, PIN_MODE_ANALOG);
} else if (IS_PIN_DIGITAL(i)) {
// sets the output to 0, configures portConfigInputs
setPinModeCallback(i, OUTPUT);
}
servoPinMap[i] = 255;
}
// by default, do not report any analog inputs
analogInputsToReport = 0;
detachedServoCount = 0;
servoCount = 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);
}
*/
isResetting = false;
}
void setup()
{
Firmata.setFirmwareVersion(FIRMATA_FIRMWARE_MAJOR_VERSION, FIRMATA_FIRMWARE_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(SET_DIGITAL_PIN_VALUE, setPinValueCallback);
Firmata.attach(START_SYSEX, sysexCallback);
Firmata.attach(SYSTEM_RESET, systemResetCallback);
/* For chipKIT Pi board, we need to use Serial1. All others just use Serial. */
#if defined(_BOARD_CHIPKIT_PI_)
Serial1.begin(57600);
Firmata.begin(Serial1);
#else
Firmata.begin(57600);
#endif
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();
/* STREAMREAD - processing incoming messagse as soon as possible, while still
* checking digital inputs. */
while (Firmata.available())
Firmata.processInput();
// TODO - ensure that Stream buffer doesn't go over 60 bytes
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) && Firmata.getPinMode(pin) == PIN_MODE_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, query[i].stopTX);
}
}
}
}

458
arduino/libraries/Firmata/examples/StandardFirmataEthernet/LICENSE.txt Executable file
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@@ -0,0 +1,458 @@
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
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Finally, software patents pose a constant threat to the existence of
any free program. We wish to make sure that a company cannot
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any patent license obtained for a version of the library must be
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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
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969
arduino/libraries/Firmata/examples/StandardFirmataEthernet/StandardFirmataEthernet.ino Normal file
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/*
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 click on the following link
to open the list of Firmata client libraries in your default browser.
https://github.com/firmata/arduino#firmata-client-libraries
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) 2009-2017 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.
Last updated August 17th, 2017
*/
/*
README
StandardFirmataEthernet is a TCP client/server implementation. You will need a Firmata client library
with a network transport that can act as a TCP server or client in order to establish a connection between
StandardFirmataEthernet and the Firmata client application.
To use StandardFirmataEthernet you will need to have one of the following
boards or shields:
- Arduino Ethernet shield (or clone)
- Arduino Ethernet board (or clone)
- Arduino Yun
Follow the instructions in the ethernetConfig.h file (ethernetConfig.h tab in Arduino IDE) to
configure your particular hardware.
NOTE: If you are using an Arduino Ethernet shield you cannot use the following pins on
the following boards. Firmata will ignore any requests to use these pins:
- Arduino Uno or other ATMega328 boards: (D4, D10, D11, D12, D13)
- Arduino Mega: (D4, D10, D50, D51, D52, D53)
- Arduino Leonardo: (D4, D10)
- Arduino Due: (D4, D10)
- Arduino Zero: (D4, D10)
If you are using an ArduinoEthernet board, the following pins cannot be used (same as Uno):
- D4, D10, D11, D12, D13
*/
#include <Servo.h>
#include <Wire.h>
#include <Firmata.h>
/*
* Uncomment the #define SERIAL_DEBUG line below to receive serial output messages relating to your
* connection that may help in the event of connection issues. If defined, some boards may not begin
* executing this sketch until the Serial console is opened.
*/
//#define SERIAL_DEBUG
#include "utility/firmataDebug.h"
// follow the instructions in ethernetConfig.h to configure your particular hardware
#include "ethernetConfig.h"
#include "utility/EthernetClientStream.h"
#include "utility/EthernetServerStream.h"
/*
* Uncomment the following include to enable interfacing with Serial devices via hardware or
* software serial.
*
* DO NOT uncomment if you are running StandardFirmataEthernet on an Arduino Leonardo,
* Arduino Micro or other ATMega32u4-based board or you will not have enough Flash and RAM
* remaining to reliably run Firmata. Arduino Yun is okay because it doesn't import the Ethernet
* libraries.
*/
// In order to use software serial, you will need to compile this sketch with
// Arduino IDE v1.6.6 or higher. Hardware serial should work back to Arduino 1.0.
//#include "utility/SerialFirmata.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 I2C_END_TX_MASK B01000000
#define I2C_STOP_TX 1
#define I2C_RESTART_TX 0
#define I2C_MAX_QUERIES 8
#define I2C_REGISTER_NOT_SPECIFIED -1
// the minimum interval for sampling analog input
#define MINIMUM_SAMPLING_INTERVAL 1
/*==============================================================================
* GLOBAL VARIABLES
*============================================================================*/
#if defined remote_ip && !defined remote_host
#ifdef local_ip
EthernetClientStream stream(client, local_ip, remote_ip, NULL, network_port);
#else
EthernetClientStream stream(client, IPAddress(0, 0, 0, 0), remote_ip, NULL, network_port);
#endif
#endif
#if !defined remote_ip && defined remote_host
#ifdef local_ip
EthernetClientStream stream(client, local_ip, IPAddress(0, 0, 0, 0), remote_host, network_port );
#else
EthernetClientStream stream(client, IPAddress(0, 0, 0, 0), IPAddress(0, 0, 0, 0), remote_host, network_port);
#endif
#endif
#if !defined remote_ip && !defined remote_host
#ifdef local_ip
EthernetServerStream stream(local_ip, network_port);
#else
EthernetServerStream stream(IPAddress(0, 0, 0, 0), network_port);
#endif
#endif
#ifdef FIRMATA_SERIAL_FEATURE
SerialFirmata serialFeature;
#endif
/* 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 portConfigInputs[TOTAL_PORTS]; // each bit: 1 = pin in INPUT, 0 = anything else
/* timer variables */
unsigned long currentMillis; // store the current value from millis()
unsigned long previousMillis; // for comparison with currentMillis
unsigned int samplingInterval = 19; // how often to sample analog inputs (in ms)
/* i2c data */
struct i2c_device_info {
byte addr;
int reg;
byte bytes;
byte stopTX;
};
/* for i2c read continuous mode */
i2c_device_info query[I2C_MAX_QUERIES];
byte i2cRxData[64];
boolean isI2CEnabled = false;
signed char queryIndex = -1;
// default delay time between i2c read request and Wire.requestFrom()
unsigned int i2cReadDelayTime = 0;
Servo servos[MAX_SERVOS];
byte servoPinMap[TOTAL_PINS];
byte detachedServos[MAX_SERVOS];
byte detachedServoCount = 0;
byte servoCount = 0;
boolean isResetting = false;
// Forward declare a few functions to avoid compiler errors with older versions
// of the Arduino IDE.
void setPinModeCallback(byte, int);
void reportAnalogCallback(byte analogPin, int value);
void sysexCallback(byte, byte, byte*);
/* utility functions */
void wireWrite(byte data)
{
#if ARDUINO >= 100
Wire.write((byte)data);
#else
Wire.send(data);
#endif
}
byte wireRead(void)
{
#if ARDUINO >= 100
return Wire.read();
#else
return Wire.receive();
#endif
}
/*==============================================================================
* FUNCTIONS
*============================================================================*/
void attachServo(byte pin, int minPulse, int maxPulse)
{
if (servoCount < MAX_SERVOS) {
// reuse indexes of detached servos until all have been reallocated
if (detachedServoCount > 0) {
servoPinMap[pin] = detachedServos[detachedServoCount - 1];
if (detachedServoCount > 0) detachedServoCount--;
} else {
servoPinMap[pin] = servoCount;
servoCount++;
}
if (minPulse > 0 && maxPulse > 0) {
servos[servoPinMap[pin]].attach(PIN_TO_DIGITAL(pin), minPulse, maxPulse);
} else {
servos[servoPinMap[pin]].attach(PIN_TO_DIGITAL(pin));
}
} else {
Firmata.sendString("Max servos attached");
}
}
void detachServo(byte pin)
{
servos[servoPinMap[pin]].detach();
// if we're detaching the last servo, decrement the count
// otherwise store the index of the detached servo
if (servoPinMap[pin] == servoCount && servoCount > 0) {
servoCount--;
} else if (servoCount > 0) {
// keep track of detached servos because we want to reuse their indexes
// before incrementing the count of attached servos
detachedServoCount++;
detachedServos[detachedServoCount - 1] = servoPinMap[pin];
}
servoPinMap[pin] = 255;
}
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, PIN_MODE_I2C);
}
}
isI2CEnabled = true;
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;
}
void readAndReportData(byte address, int theRegister, byte numBytes, byte stopTX) {
// 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 != I2C_REGISTER_NOT_SPECIFIED) {
Wire.beginTransmission(address);
wireWrite((byte)theRegister);
Wire.endTransmission(stopTX); // default = true
// 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()) {
Firmata.sendString("I2C: Too many bytes received");
} else if (numBytes > Wire.available()) {
Firmata.sendString("I2C: Too few bytes received");
}
i2cRxData[0] = address;
i2cRxData[1] = theRegister;
for (int i = 0; i < numBytes && Wire.available(); i++) {
i2cRxData[2 + i] = wireRead();
}
// 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 Stream output queue using Stream.write() */
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 (Firmata.getPinMode(pin) == PIN_MODE_IGNORE)
return;
if (Firmata.getPinMode(pin) == PIN_MODE_I2C && isI2CEnabled && mode != PIN_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_DIGITAL(pin) && mode != PIN_MODE_SERVO) {
if (servoPinMap[pin] < MAX_SERVOS && servos[servoPinMap[pin]].attached()) {
detachServo(pin);
}
}
if (IS_PIN_ANALOG(pin)) {
// turn on/off reporting
reportAnalogCallback(PIN_TO_ANALOG(pin), mode == PIN_MODE_ANALOG ? 1 : 0);
}
if (IS_PIN_DIGITAL(pin)) {
if (mode == INPUT || mode == PIN_MODE_PULLUP) {
portConfigInputs[pin / 8] |= (1 << (pin & 7));
} else {
portConfigInputs[pin / 8] &= ~(1 << (pin & 7));
}
}
Firmata.setPinState(pin, 0);
switch (mode) {
case PIN_MODE_ANALOG:
if (IS_PIN_ANALOG(pin)) {
if (IS_PIN_DIGITAL(pin)) {
pinMode(PIN_TO_DIGITAL(pin), INPUT); // disable output driver
#if ARDUINO <= 100
// deprecated since Arduino 1.0.1 - TODO: drop support in Firmata 2.6
digitalWrite(PIN_TO_DIGITAL(pin), LOW); // disable internal pull-ups
#endif
}
Firmata.setPinMode(pin, PIN_MODE_ANALOG);
}
break;
case INPUT:
if (IS_PIN_DIGITAL(pin)) {
pinMode(PIN_TO_DIGITAL(pin), INPUT); // disable output driver
#if ARDUINO <= 100
// deprecated since Arduino 1.0.1 - TODO: drop support in Firmata 2.6
digitalWrite(PIN_TO_DIGITAL(pin), LOW); // disable internal pull-ups
#endif
Firmata.setPinMode(pin, INPUT);
}
break;
case PIN_MODE_PULLUP:
if (IS_PIN_DIGITAL(pin)) {
pinMode(PIN_TO_DIGITAL(pin), INPUT_PULLUP);
Firmata.setPinMode(pin, PIN_MODE_PULLUP);
Firmata.setPinState(pin, 1);
}
break;
case OUTPUT:
if (IS_PIN_DIGITAL(pin)) {
if (Firmata.getPinMode(pin) == PIN_MODE_PWM) {
// Disable PWM if pin mode was previously set to PWM.
digitalWrite(PIN_TO_DIGITAL(pin), LOW);
}
pinMode(PIN_TO_DIGITAL(pin), OUTPUT);
Firmata.setPinMode(pin, OUTPUT);
}
break;
case PIN_MODE_PWM:
if (IS_PIN_PWM(pin)) {
pinMode(PIN_TO_PWM(pin), OUTPUT);
analogWrite(PIN_TO_PWM(pin), 0);
Firmata.setPinMode(pin, PIN_MODE_PWM);
}
break;
case PIN_MODE_SERVO:
if (IS_PIN_DIGITAL(pin)) {
Firmata.setPinMode(pin, PIN_MODE_SERVO);
if (servoPinMap[pin] == 255 || !servos[servoPinMap[pin]].attached()) {
// pass -1 for min and max pulse values to use default values set
// by Servo library
attachServo(pin, -1, -1);
}
}
break;
case PIN_MODE_I2C:
if (IS_PIN_I2C(pin)) {
// mark the pin as i2c
// the user must call I2C_CONFIG to enable I2C for a device
Firmata.setPinMode(pin, PIN_MODE_I2C);
}
break;
case PIN_MODE_SERIAL:
#ifdef FIRMATA_SERIAL_FEATURE
serialFeature.handlePinMode(pin, PIN_MODE_SERIAL);
#endif
break;
default:
Firmata.sendString("Unknown pin mode"); // TODO: put error msgs in EEPROM
}
// TODO: save status to EEPROM here, if changed
}
/*
* Sets the value of an individual pin. Useful if you want to set a pin value but
* are not tracking the digital port state.
* Can only be used on pins configured as OUTPUT.
* Cannot be used to enable pull-ups on Digital INPUT pins.
*/
void setPinValueCallback(byte pin, int value)
{
if (pin < TOTAL_PINS && IS_PIN_DIGITAL(pin)) {
if (Firmata.getPinMode(pin) == OUTPUT) {
Firmata.setPinState(pin, value);
digitalWrite(PIN_TO_DIGITAL(pin), value);
}
}
}
void analogWriteCallback(byte pin, int value)
{
if (pin < TOTAL_PINS) {
switch (Firmata.getPinMode(pin)) {
case PIN_MODE_SERVO:
if (IS_PIN_DIGITAL(pin))
servos[servoPinMap[pin]].write(value);
Firmata.setPinState(pin, value);
break;
case PIN_MODE_PWM:
if (IS_PIN_PWM(pin))
analogWrite(PIN_TO_PWM(pin), value);
Firmata.setPinState(pin, value);
break;
}
}
}
void digitalWriteCallback(byte port, int value)
{
byte pin, lastPin, pinValue, 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)) {
// do not touch pins in PWM, ANALOG, SERVO or other modes
if (Firmata.getPinMode(pin) == OUTPUT || Firmata.getPinMode(pin) == INPUT) {
pinValue = ((byte)value & mask) ? 1 : 0;
if (Firmata.getPinMode(pin) == OUTPUT) {
pinWriteMask |= mask;
} else if (Firmata.getPinMode(pin) == INPUT && pinValue == 1 && Firmata.getPinState(pin) != 1) {
// only handle INPUT here for backwards compatibility
#if ARDUINO > 100
pinMode(pin, INPUT_PULLUP);
#else
// only write to the INPUT pin to enable pullups if Arduino v1.0.0 or earlier
pinWriteMask |= mask;
#endif
}
Firmata.setPinState(pin, pinValue);
}
}
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);
// prevent during system reset or all analog pin values will be reported
// which may report noise for unconnected analog pins
if (!isResetting) {
// Send pin value immediately. This is helpful when connected via
// ethernet, wi-fi or bluetooth so pin states can be known upon
// reconnecting.
Firmata.sendAnalog(analogPin, analogRead(analogPin));
}
}
}
// TODO: save status to EEPROM here, if changed
}
void reportDigitalCallback(byte port, int value)
{
if (port < TOTAL_PORTS) {
reportPINs[port] = (byte)value;
// Send port value immediately. This is helpful when connected via
// ethernet, wi-fi or bluetooth so pin states can be known upon
// reconnecting.
if (value) outputPort(port, readPort(port, portConfigInputs[port]), true);
}
// 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 stopTX;
byte slaveAddress;
byte data;
int slaveRegister;
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 not supported");
return;
}
else {
slaveAddress = argv[0];
}
// need to invert the logic here since 0 will be default for client
// libraries that have not updated to add support for restart tx
if (argv[1] & I2C_END_TX_MASK) {
stopTX = I2C_RESTART_TX;
}
else {
stopTX = I2C_STOP_TX; // default
}
switch (mode) {
case I2C_WRITE:
Wire.beginTransmission(slaveAddress);
for (byte i = 2; i < argc; i += 2) {
data = argv[i] + (argv[i + 1] << 7);
wireWrite(data);
}
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
}
else {
// a slave register is NOT specified
slaveRegister = I2C_REGISTER_NOT_SPECIFIED;
data = argv[2] + (argv[3] << 7); // bytes to read
}
readAndReportData(slaveAddress, (int)slaveRegister, data, stopTX);
break;
case I2C_READ_CONTINUOUSLY:
if ((queryIndex + 1) >= I2C_MAX_QUERIES) {
// too many queries, just ignore
Firmata.sendString("too many queries");
break;
}
if (argc == 6) {
// a slave register is specified
slaveRegister = argv[2] + (argv[3] << 7);
data = argv[4] + (argv[5] << 7); // bytes to read
}
else {
// a slave register is NOT specified
slaveRegister = (int)I2C_REGISTER_NOT_SPECIFIED;
data = argv[2] + (argv[3] << 7); // bytes to read
}
queryIndex++;
query[queryIndex].addr = slaveAddress;
query[queryIndex].reg = slaveRegister;
query[queryIndex].bytes = data;
query[queryIndex].stopTX = stopTX;
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 {
queryIndexToSkip = 0;
// 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 < I2C_MAX_QUERIES) {
query[i].addr = query[i + 1].addr;
query[i].reg = query[i + 1].reg;
query[i].bytes = query[i + 1].bytes;
query[i].stopTX = query[i + 1].stopTX;
}
}
queryIndex--;
}
break;
default:
break;
}
break;
case I2C_CONFIG:
delayTime = (argv[0] + (argv[1] << 7));
if (argc > 1 && 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_DIGITAL(pin)) {
if (servoPinMap[pin] < MAX_SERVOS && servos[servoPinMap[pin]].attached()) {
detachServo(pin);
}
attachServo(pin, minPulse, maxPulse);
setPinModeCallback(pin, PIN_MODE_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)PIN_MODE_PULLUP);
Firmata.write(1);
Firmata.write((byte)OUTPUT);
Firmata.write(1);
}
if (IS_PIN_ANALOG(pin)) {
Firmata.write(PIN_MODE_ANALOG);
Firmata.write(10); // 10 = 10-bit resolution
}
if (IS_PIN_PWM(pin)) {
Firmata.write(PIN_MODE_PWM);
Firmata.write(DEFAULT_PWM_RESOLUTION);
}
if (IS_PIN_DIGITAL(pin)) {
Firmata.write(PIN_MODE_SERVO);
Firmata.write(14);
}
if (IS_PIN_I2C(pin)) {
Firmata.write(PIN_MODE_I2C);
Firmata.write(1); // TODO: could assign a number to map to SCL or SDA
}
#ifdef FIRMATA_SERIAL_FEATURE
serialFeature.handleCapability(pin);
#endif
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(Firmata.getPinMode(pin));
Firmata.write((byte)Firmata.getPinState(pin) & 0x7F);
if (Firmata.getPinState(pin) & 0xFF80) Firmata.write((byte)(Firmata.getPinState(pin) >> 7) & 0x7F);
if (Firmata.getPinState(pin) & 0xC000) Firmata.write((byte)(Firmata.getPinState(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;
case SERIAL_MESSAGE:
#ifdef FIRMATA_SERIAL_FEATURE
serialFeature.handleSysex(command, argc, argv);
#endif
break;
}
}
/*==============================================================================
* SETUP()
*============================================================================*/
void systemResetCallback()
{
isResetting = true;
// initialize a defalt state
// TODO: option to load config from EEPROM instead of default
#ifdef FIRMATA_SERIAL_FEATURE
serialFeature.reset();
#endif
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;
}
for (byte i = 0; i < TOTAL_PINS; i++) {
// pins with analog capability default to analog input
// otherwise, pins default to digital output
if (IS_PIN_ANALOG(i)) {
// turns off pullup, configures everything
setPinModeCallback(i, PIN_MODE_ANALOG);
} else if (IS_PIN_DIGITAL(i)) {
// sets the output to 0, configures portConfigInputs
setPinModeCallback(i, OUTPUT);
}
servoPinMap[i] = 255;
}
// by default, do not report any analog inputs
analogInputsToReport = 0;
detachedServoCount = 0;
servoCount = 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);
}
*/
isResetting = false;
}
void printEthernetStatus()
{
DEBUG_PRINT("Local IP Address: ");
IPAddress ip = Ethernet.localIP();
DEBUG_PRINTLN(ip);
#ifdef remote_ip
DEBUG_PRINT("Connecting to server at: ");
DEBUG_PRINTLN(remote_ip);
#endif
}
/*
* StandardFirmataEthernet communicates with Ethernet shields over SPI. Therefore all
* SPI pins must be set to IGNORE. Otherwise Firmata would break SPI communication.
* Additional pins may also need to be ignored depending on the particular board or
* shield in use.
*/
void ignorePins()
{
#ifdef IS_IGNORE_PIN
for (byte i = 0; i < TOTAL_PINS; i++) {
if (IS_IGNORE_PIN(i)) {
Firmata.setPinMode(i, PIN_MODE_IGNORE);
}
}
#endif
#ifdef WIZ5100_ETHERNET
// Arduino Ethernet and Arduino EthernetShield have SD SS wired to D4
pinMode(PIN_TO_DIGITAL(4), OUTPUT); // switch off SD card bypassing Firmata
digitalWrite(PIN_TO_DIGITAL(4), HIGH); // SS is active low;
#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
pinMode(PIN_TO_DIGITAL(53), OUTPUT); // configure hardware SS as output on MEGA
#endif
#endif // WIZ5100_ETHERNET
}
void initTransport()
{
#ifdef YUN_ETHERNET
Bridge.begin();
#else
#ifdef local_ip
Ethernet.begin((uint8_t *)mac, local_ip); //start ethernet
#else
DEBUG_PRINTLN("Local IP will be requested from DHCP...");
//start ethernet using dhcp
if (Ethernet.begin((uint8_t *)mac) == 0) {
DEBUG_PRINTLN("Failed to configure Ethernet using DHCP");
}
#endif
#endif
printEthernetStatus();
}
void initFirmata()
{
Firmata.setFirmwareVersion(FIRMATA_FIRMWARE_MAJOR_VERSION, FIRMATA_FIRMWARE_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(SET_DIGITAL_PIN_VALUE, setPinValueCallback);
Firmata.attach(START_SYSEX, sysexCallback);
Firmata.attach(SYSTEM_RESET, systemResetCallback);
ignorePins();
// start up Network Firmata:
Firmata.begin(stream);
systemResetCallback(); // Initialize default configuration
}
void setup()
{
DEBUG_BEGIN(9600);
initTransport();
initFirmata();
}
/*==============================================================================
* LOOP()
*============================================================================*/
void loop()
{
byte pin, analogPin;
/* DIGITALREAD - as fast as possible, check for changes and output them to the
* Stream buffer using Stream.write() */
checkDigitalInputs();
/* STREAMREAD - processing incoming messagse as soon as possible, while still
* checking digital inputs. */
while (Firmata.available())
Firmata.processInput();
// TODO - ensure that Stream buffer doesn't go over 60 bytes
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) && Firmata.getPinMode(pin) == PIN_MODE_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, query[i].stopTX);
}
}
}
#ifdef FIRMATA_SERIAL_FEATURE
serialFeature.update();
#endif
#if !defined local_ip && !defined YUN_ETHERNET
// only necessary when using DHCP, ensures local IP is updated appropriately if it changes
if (Ethernet.maintain()) {
stream.maintain(Ethernet.localIP());
}
#endif
}

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/*==============================================================================
* NETWORK CONFIGURATION
*
* You must configure your particular hardware. Follow the steps below.
*
* By default, StandardFirmataEthernet is configured as a TCP client.
* To configure as a TCP server, see STEP 2
*============================================================================*/
// STEP 1 [REQUIRED]
// Uncomment / comment the appropriate set of includes for your hardware (OPTION A or B)
// Option A is enabled by default.
/*
* OPTION A: Configure for Arduino Ethernet board or Arduino Ethernet shield (or clone)
*
* To configure StandardFirmataEthernet to use the original WIZ5100-based
* ethernet shield or Arduino Ethernet uncomment the WIZ5100_ETHERNET define below
*/
#define WIZ5100_ETHERNET
#ifdef WIZ5100_ETHERNET
#include <SPI.h>
#include <Ethernet.h>
EthernetClient client;
#endif
/*
* OPTION B: Configure for Arduin Yun
*
* The Ethernet port on the Arduino Yun board can be used with Firmata in this configuration.
*
* To execute StandardFirmataEthernet on Yun uncomment the YUN_ETHERNET define below and make
* sure the WIZ5100_ETHERNET define (above) is commented out.
*
* On Yun there's no need to configure local_ip and mac address as this is automatically
* configured on the linux-side of Yun.
*
* Note that it may take several seconds to establish a connection with the Yun.
*/
//#define YUN_ETHERNET
#ifdef YUN_ETHERNET
#include <Bridge.h>
#include <YunClient.h>
YunClient client;
#endif
// STEP 2 [REQUIRED for all boards and shields]
// TCP Client configuration:
// To configure your board as a TCP client, set the IP address of the server you want to connect to.
// TCP Server configuration:
// To configure your board as a TCP server, comment out the following line and also ensure that
// remote_host is also commented out.
#define remote_ip IPAddress(10, 0, 0, 3)
// *** REMOTE HOST IS NOT YET WORKING ***
// replace with hostname of server you want to connect to, comment out if using 'remote_ip'
// #define remote_host "server.local"
// STEP 3 [REQUIRED]
// Replace with the port that your client or server is listening on.
#define network_port 3030
// STEP 4 [REQUIRED unless using DHCP]
// Replace with your board or ethernet shield's IP address
// Comment out if you want to use DHCP
#define local_ip IPAddress(10, 0, 0, 15)
// STEP 5 [REQUIRED]
// replace with ethernet shield mac. Must be unique for your network
const byte mac[] = {0x90, 0xA2, 0xDA, 0x00, 0x53, 0xE5};
/*==============================================================================
* CONFIGURATION ERROR CHECK (don't change anything here)
*============================================================================*/
#if !defined WIZ5100_ETHERNET && !defined YUN_ETHERNET
#error "you must define either WIZ5100_ETHERNET or YUN_ETHERNET in ethernetConfig.h"
#endif
#if defined remote_ip && defined remote_host
#error "cannot define both remote_ip and remote_host at the same time in ethernetConfig.h"
#endif
/*==============================================================================
* PIN IGNORE MACROS (don't change anything here)
*============================================================================*/
#if defined(WIZ5100_ETHERNET)
// ignore SPI pins, pin 10 (Ethernet SS) and pin 4 (SS for SD-Card on Ethernet shield)
#define IS_IGNORE_PIN(p) ((IS_PIN_SPI(p) || (p) == 4) || (p) == 10)
#endif

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GNU LESSER GENERAL PUBLIC LICENSE
Version 2.1, February 1999
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arduino/libraries/Firmata/examples/StandardFirmataPlus/StandardFirmataPlus.ino Normal file
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/*
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 click on the following link
to open the list of Firmata client libraries in your default browser.
https://github.com/firmata/arduino#firmata-client-libraries
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) 2009-2016 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.
Last updated August 17th, 2017
*/
/*
README
StandardFirmataPlus adds additional features that may exceed the Flash and
RAM sizes of Arduino boards such as ATMega328p (Uno) and ATMega32u4
(Leonardo, Micro, Yun, etc). It is best to use StandardFirmataPlus with higher
memory boards such as the Arduino Mega, Arduino Due, Teensy 3.0/3.1/3.2.
All Firmata examples that are appended with "Plus" add the following features:
- Ability to interface with serial devices using UART, USART, or SoftwareSerial
depending on the capatilities of the board.
NOTE: In order to use SoftwareSerial with the Firmata Serial feature,
StandardFirmataPlus must be compiled with Arduino v1.6.6 or newer.
At the time of this writing, StandardFirmataPlus will still compile and run
on ATMega328p and ATMega32u4-based boards, but future versions of this sketch
may not as new features are added.
*/
#include <Servo.h>
#include <Wire.h>
#include <Firmata.h>
// In order to use software serial, you will need to compile this sketch with
// Arduino IDE v1.6.6 or higher. Hardware serial should work back to Arduino 1.0.
#include "utility/SerialFirmata.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 I2C_END_TX_MASK B01000000
#define I2C_STOP_TX 1
#define I2C_RESTART_TX 0
#define I2C_MAX_QUERIES 8
#define I2C_REGISTER_NOT_SPECIFIED -1
// the minimum interval for sampling analog input
#define MINIMUM_SAMPLING_INTERVAL 1
/*==============================================================================
* GLOBAL VARIABLES
*============================================================================*/
#ifdef FIRMATA_SERIAL_FEATURE
SerialFirmata serialFeature;
#endif
/* 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 portConfigInputs[TOTAL_PORTS]; // each bit: 1 = pin in INPUT, 0 = anything else
/* timer variables */
unsigned long currentMillis; // store the current value from millis()
unsigned long previousMillis; // for comparison with currentMillis
unsigned int samplingInterval = 19; // how often to run the main loop (in ms)
/* i2c data */
struct i2c_device_info {
byte addr;
int reg;
byte bytes;
byte stopTX;
};
/* for i2c read continuous more */
i2c_device_info query[I2C_MAX_QUERIES];
byte i2cRxData[64];
boolean isI2CEnabled = false;
signed char queryIndex = -1;
// default delay time between i2c read request and Wire.requestFrom()
unsigned int i2cReadDelayTime = 0;
Servo servos[MAX_SERVOS];
byte servoPinMap[TOTAL_PINS];
byte detachedServos[MAX_SERVOS];
byte detachedServoCount = 0;
byte servoCount = 0;
boolean isResetting = false;
// Forward declare a few functions to avoid compiler errors with older versions
// of the Arduino IDE.
void setPinModeCallback(byte, int);
void reportAnalogCallback(byte analogPin, int value);
void sysexCallback(byte, byte, byte*);
/* utility functions */
void wireWrite(byte data)
{
#if ARDUINO >= 100
Wire.write((byte)data);
#else
Wire.send(data);
#endif
}
byte wireRead(void)
{
#if ARDUINO >= 100
return Wire.read();
#else
return Wire.receive();
#endif
}
/*==============================================================================
* FUNCTIONS
*============================================================================*/
void attachServo(byte pin, int minPulse, int maxPulse)
{
if (servoCount < MAX_SERVOS) {
// reuse indexes of detached servos until all have been reallocated
if (detachedServoCount > 0) {
servoPinMap[pin] = detachedServos[detachedServoCount - 1];
if (detachedServoCount > 0) detachedServoCount--;
} else {
servoPinMap[pin] = servoCount;
servoCount++;
}
if (minPulse > 0 && maxPulse > 0) {
servos[servoPinMap[pin]].attach(PIN_TO_DIGITAL(pin), minPulse, maxPulse);
} else {
servos[servoPinMap[pin]].attach(PIN_TO_DIGITAL(pin));
}
} else {
Firmata.sendString("Max servos attached");
}
}
void detachServo(byte pin)
{
servos[servoPinMap[pin]].detach();
// if we're detaching the last servo, decrement the count
// otherwise store the index of the detached servo
if (servoPinMap[pin] == servoCount && servoCount > 0) {
servoCount--;
} else if (servoCount > 0) {
// keep track of detached servos because we want to reuse their indexes
// before incrementing the count of attached servos
detachedServoCount++;
detachedServos[detachedServoCount - 1] = servoPinMap[pin];
}
servoPinMap[pin] = 255;
}
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, PIN_MODE_I2C);
}
}
isI2CEnabled = true;
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;
}
void readAndReportData(byte address, int theRegister, byte numBytes, byte stopTX) {
// 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 != I2C_REGISTER_NOT_SPECIFIED) {
Wire.beginTransmission(address);
wireWrite((byte)theRegister);
Wire.endTransmission(stopTX); // default = true
// 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()) {
Firmata.sendString("I2C: Too many bytes received");
} else if (numBytes > Wire.available()) {
Firmata.sendString("I2C: Too few bytes received");
}
i2cRxData[0] = address;
i2cRxData[1] = theRegister;
for (int i = 0; i < numBytes && Wire.available(); i++) {
i2cRxData[2 + i] = wireRead();
}
// 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 (Firmata.getPinMode(pin) == PIN_MODE_IGNORE)
return;
if (Firmata.getPinMode(pin) == PIN_MODE_I2C && isI2CEnabled && mode != PIN_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_DIGITAL(pin) && mode != PIN_MODE_SERVO) {
if (servoPinMap[pin] < MAX_SERVOS && servos[servoPinMap[pin]].attached()) {
detachServo(pin);
}
}
if (IS_PIN_ANALOG(pin)) {
reportAnalogCallback(PIN_TO_ANALOG(pin), mode == PIN_MODE_ANALOG ? 1 : 0); // turn on/off reporting
}
if (IS_PIN_DIGITAL(pin)) {
if (mode == INPUT || mode == PIN_MODE_PULLUP) {
portConfigInputs[pin / 8] |= (1 << (pin & 7));
} else {
portConfigInputs[pin / 8] &= ~(1 << (pin & 7));
}
}
Firmata.setPinState(pin, 0);
switch (mode) {
case PIN_MODE_ANALOG:
if (IS_PIN_ANALOG(pin)) {
if (IS_PIN_DIGITAL(pin)) {
pinMode(PIN_TO_DIGITAL(pin), INPUT); // disable output driver
#if ARDUINO <= 100
// deprecated since Arduino 1.0.1 - TODO: drop support in Firmata 2.6
digitalWrite(PIN_TO_DIGITAL(pin), LOW); // disable internal pull-ups
#endif
}
Firmata.setPinMode(pin, PIN_MODE_ANALOG);
}
break;
case INPUT:
if (IS_PIN_DIGITAL(pin)) {
pinMode(PIN_TO_DIGITAL(pin), INPUT); // disable output driver
#if ARDUINO <= 100
// deprecated since Arduino 1.0.1 - TODO: drop support in Firmata 2.6
digitalWrite(PIN_TO_DIGITAL(pin), LOW); // disable internal pull-ups
#endif
Firmata.setPinMode(pin, INPUT);
}
break;
case PIN_MODE_PULLUP:
if (IS_PIN_DIGITAL(pin)) {
pinMode(PIN_TO_DIGITAL(pin), INPUT_PULLUP);
Firmata.setPinMode(pin, PIN_MODE_PULLUP);
Firmata.setPinState(pin, 1);
}
break;
case OUTPUT:
if (IS_PIN_DIGITAL(pin)) {
if (Firmata.getPinMode(pin) == PIN_MODE_PWM) {
// Disable PWM if pin mode was previously set to PWM.
digitalWrite(PIN_TO_DIGITAL(pin), LOW);
}
pinMode(PIN_TO_DIGITAL(pin), OUTPUT);
Firmata.setPinMode(pin, OUTPUT);
}
break;
case PIN_MODE_PWM:
if (IS_PIN_PWM(pin)) {
pinMode(PIN_TO_PWM(pin), OUTPUT);
analogWrite(PIN_TO_PWM(pin), 0);
Firmata.setPinMode(pin, PIN_MODE_PWM);
}
break;
case PIN_MODE_SERVO:
if (IS_PIN_DIGITAL(pin)) {
Firmata.setPinMode(pin, PIN_MODE_SERVO);
if (servoPinMap[pin] == 255 || !servos[servoPinMap[pin]].attached()) {
// pass -1 for min and max pulse values to use default values set
// by Servo library
attachServo(pin, -1, -1);
}
}
break;
case PIN_MODE_I2C:
if (IS_PIN_I2C(pin)) {
// mark the pin as i2c
// the user must call I2C_CONFIG to enable I2C for a device
Firmata.setPinMode(pin, PIN_MODE_I2C);
}
break;
case PIN_MODE_SERIAL:
#ifdef FIRMATA_SERIAL_FEATURE
serialFeature.handlePinMode(pin, PIN_MODE_SERIAL);
#endif
break;
default:
Firmata.sendString("Unknown pin mode"); // TODO: put error msgs in EEPROM
}
// TODO: save status to EEPROM here, if changed
}
/*
* Sets the value of an individual pin. Useful if you want to set a pin value but
* are not tracking the digital port state.
* Can only be used on pins configured as OUTPUT.
* Cannot be used to enable pull-ups on Digital INPUT pins.
*/
void setPinValueCallback(byte pin, int value)
{
if (pin < TOTAL_PINS && IS_PIN_DIGITAL(pin)) {
if (Firmata.getPinMode(pin) == OUTPUT) {
Firmata.setPinState(pin, value);
digitalWrite(PIN_TO_DIGITAL(pin), value);
}
}
}
void analogWriteCallback(byte pin, int value)
{
if (pin < TOTAL_PINS) {
switch (Firmata.getPinMode(pin)) {
case PIN_MODE_SERVO:
if (IS_PIN_DIGITAL(pin))
servos[servoPinMap[pin]].write(value);
Firmata.setPinState(pin, value);
break;
case PIN_MODE_PWM:
if (IS_PIN_PWM(pin))
analogWrite(PIN_TO_PWM(pin), value);
Firmata.setPinState(pin, value);
break;
}
}
}
void digitalWriteCallback(byte port, int value)
{
byte pin, lastPin, pinValue, 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)) {
// do not touch pins in PWM, ANALOG, SERVO or other modes
if (Firmata.getPinMode(pin) == OUTPUT || Firmata.getPinMode(pin) == INPUT) {
pinValue = ((byte)value & mask) ? 1 : 0;
if (Firmata.getPinMode(pin) == OUTPUT) {
pinWriteMask |= mask;
} else if (Firmata.getPinMode(pin) == INPUT && pinValue == 1 && Firmata.getPinState(pin) != 1) {
// only handle INPUT here for backwards compatibility
#if ARDUINO > 100
pinMode(pin, INPUT_PULLUP);
#else
// only write to the INPUT pin to enable pullups if Arduino v1.0.0 or earlier
pinWriteMask |= mask;
#endif
}
Firmata.setPinState(pin, pinValue);
}
}
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);
// prevent during system reset or all analog pin values will be reported
// which may report noise for unconnected analog pins
if (!isResetting) {
// Send pin value immediately. This is helpful when connected via
// ethernet, wi-fi or bluetooth so pin states can be known upon
// reconnecting.
Firmata.sendAnalog(analogPin, analogRead(analogPin));
}
}
}
// TODO: save status to EEPROM here, if changed
}
void reportDigitalCallback(byte port, int value)
{
if (port < TOTAL_PORTS) {
reportPINs[port] = (byte)value;
// Send port value immediately. This is helpful when connected via
// ethernet, wi-fi or bluetooth so pin states can be known upon
// reconnecting.
if (value) outputPort(port, readPort(port, portConfigInputs[port]), true);
}
// 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 stopTX;
byte slaveAddress;
byte data;
int slaveRegister;
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 not supported");
return;
}
else {
slaveAddress = argv[0];
}
// need to invert the logic here since 0 will be default for client
// libraries that have not updated to add support for restart tx
if (argv[1] & I2C_END_TX_MASK) {
stopTX = I2C_RESTART_TX;
}
else {
stopTX = I2C_STOP_TX; // default
}
switch (mode) {
case I2C_WRITE:
Wire.beginTransmission(slaveAddress);
for (byte i = 2; i < argc; i += 2) {
data = argv[i] + (argv[i + 1] << 7);
wireWrite(data);
}
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
}
else {
// a slave register is NOT specified
slaveRegister = I2C_REGISTER_NOT_SPECIFIED;
data = argv[2] + (argv[3] << 7); // bytes to read
}
readAndReportData(slaveAddress, (int)slaveRegister, data, stopTX);
break;
case I2C_READ_CONTINUOUSLY:
if ((queryIndex + 1) >= I2C_MAX_QUERIES) {
// too many queries, just ignore
Firmata.sendString("too many queries");
break;
}
if (argc == 6) {
// a slave register is specified
slaveRegister = argv[2] + (argv[3] << 7);
data = argv[4] + (argv[5] << 7); // bytes to read
}
else {
// a slave register is NOT specified
slaveRegister = (int)I2C_REGISTER_NOT_SPECIFIED;
data = argv[2] + (argv[3] << 7); // bytes to read
}
queryIndex++;
query[queryIndex].addr = slaveAddress;
query[queryIndex].reg = slaveRegister;
query[queryIndex].bytes = data;
query[queryIndex].stopTX = stopTX;
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 {
queryIndexToSkip = 0;
// 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 < I2C_MAX_QUERIES) {
query[i].addr = query[i + 1].addr;
query[i].reg = query[i + 1].reg;
query[i].bytes = query[i + 1].bytes;
query[i].stopTX = query[i + 1].stopTX;
}
}
queryIndex--;
}
break;
default:
break;
}
break;
case I2C_CONFIG:
delayTime = (argv[0] + (argv[1] << 7));
if (argc > 1 && 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_DIGITAL(pin)) {
if (servoPinMap[pin] < MAX_SERVOS && servos[servoPinMap[pin]].attached()) {
detachServo(pin);
}
attachServo(pin, minPulse, maxPulse);
setPinModeCallback(pin, PIN_MODE_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)PIN_MODE_PULLUP);
Firmata.write(1);
Firmata.write((byte)OUTPUT);
Firmata.write(1);
}
if (IS_PIN_ANALOG(pin)) {
Firmata.write(PIN_MODE_ANALOG);
Firmata.write(10); // 10 = 10-bit resolution
}
if (IS_PIN_PWM(pin)) {
Firmata.write(PIN_MODE_PWM);
Firmata.write(DEFAULT_PWM_RESOLUTION);
}
if (IS_PIN_DIGITAL(pin)) {
Firmata.write(PIN_MODE_SERVO);
Firmata.write(14);
}
if (IS_PIN_I2C(pin)) {
Firmata.write(PIN_MODE_I2C);
Firmata.write(1); // TODO: could assign a number to map to SCL or SDA
}
#ifdef FIRMATA_SERIAL_FEATURE
serialFeature.handleCapability(pin);
#endif
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(Firmata.getPinMode(pin));
Firmata.write((byte)Firmata.getPinState(pin) & 0x7F);
if (Firmata.getPinState(pin) & 0xFF80) Firmata.write((byte)(Firmata.getPinState(pin) >> 7) & 0x7F);
if (Firmata.getPinState(pin) & 0xC000) Firmata.write((byte)(Firmata.getPinState(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;
case SERIAL_MESSAGE:
#ifdef FIRMATA_SERIAL_FEATURE
serialFeature.handleSysex(command, argc, argv);
#endif
break;
}
}
/*==============================================================================
* SETUP()
*============================================================================*/
void systemResetCallback()
{
isResetting = true;
// initialize a defalt state
// TODO: option to load config from EEPROM instead of default
#ifdef FIRMATA_SERIAL_FEATURE
serialFeature.reset();
#endif
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;
}
for (byte i = 0; i < TOTAL_PINS; i++) {
// pins with analog capability default to analog input
// otherwise, pins default to digital output
if (IS_PIN_ANALOG(i)) {
// turns off pullup, configures everything
setPinModeCallback(i, PIN_MODE_ANALOG);
} else if (IS_PIN_DIGITAL(i)) {
// sets the output to 0, configures portConfigInputs
setPinModeCallback(i, OUTPUT);
}
servoPinMap[i] = 255;
}
// by default, do not report any analog inputs
analogInputsToReport = 0;
detachedServoCount = 0;
servoCount = 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);
}
*/
isResetting = false;
}
void setup()
{
Firmata.setFirmwareVersion(FIRMATA_FIRMWARE_MAJOR_VERSION, FIRMATA_FIRMWARE_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(SET_DIGITAL_PIN_VALUE, setPinValueCallback);
Firmata.attach(START_SYSEX, sysexCallback);
Firmata.attach(SYSTEM_RESET, systemResetCallback);
// Save a couple of seconds by disabling the startup blink sequence.
Firmata.disableBlinkVersion();
// to use a port other than Serial, such as Serial1 on an Arduino Leonardo or Mega,
// Call begin(baud) on the alternate serial port and pass it to Firmata to begin like this:
// Serial1.begin(57600);
// Firmata.begin(Serial1);
// However do not do this if you are using SERIAL_MESSAGE
Firmata.begin(57600);
while (!Serial) {
; // wait for serial port to connect. Needed for ATmega32u4-based boards and Arduino 101
}
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();
/* STREAMREAD - processing incoming messagse as soon as possible, while still
* checking digital inputs. */
while (Firmata.available())
Firmata.processInput();
// TODO - ensure that Stream buffer doesn't go over 60 bytes
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) && Firmata.getPinMode(pin) == PIN_MODE_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, query[i].stopTX);
}
}
}
#ifdef FIRMATA_SERIAL_FEATURE
serialFeature.update();
#endif
}

458
arduino/libraries/Firmata/examples/StandardFirmataWiFi/LICENSE.txt Normal file
View File

@@ -0,0 +1,458 @@
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
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To protect your rights, we need to make restrictions that forbid
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For example, if you distribute copies of the library, whether gratis
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We protect your rights with a two-step method: (1) we copyright the
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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
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Finally, software patents pose a constant threat to the existence of
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We call this license the "Lesser" General Public License because it
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arduino/libraries/Firmata/examples/StandardFirmataWiFi/wifiConfig.h Normal file
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/*==============================================================================
* WIFI CONFIGURATION
*
* You must configure your particular hardware. Follow the steps below.
*
* By default, StandardFirmataWiFi is configured as a TCP server, to configure
* as a TCP client, see STEP 2.
*============================================================================*/
// STEP 1 [REQUIRED]
// Uncomment / comment the appropriate set of includes for your hardware (OPTION A, B or C)
// Arduino MKR1000 or ESP8266 are enabled by default if compiling for either of those boards.
/*
* OPTION A: Configure for Arduino MKR1000 or Arduino WiFi Shield 101
*
* This will configure StandardFirmataWiFi to use the WiFi101 library, which works with the
* Arduino WiFi101 shield and devices that have the WiFi101 chip built in (such as the MKR1000).
* It is compatible with 802.11 B/G/N networks.
*
* If you are using the MKR1000 board, continue on to STEP 2. If you are using the WiFi 101 shield,
* follow the instructions below.
*
* To enable for the WiFi 101 shield, uncomment the #define WIFI_101 below and verify the
* #define ARDUINO_WIFI_SHIELD is commented out for OPTION B.
*
* IMPORTANT: You must have the WiFI 101 library installed. To easily install this library, open
* the library manager via: Arduino IDE Menus: Sketch > Include Library > Manage Libraries > filter
* search for "WiFi101" > Select the result and click 'install'
*/
//#define WIFI_101
//do not modify the following 11 lines
#if defined(ARDUINO_SAMD_MKR1000) && !defined(WIFI_101)
// automatically include if compiling for MRK1000
#define WIFI_101
#endif
#ifdef WIFI_101
#include <WiFi101.h>
#include "utility/WiFiClientStream.h"
#include "utility/WiFiServerStream.h"
#define WIFI_LIB_INCLUDED
#endif
/*
* OPTION B: Configure for legacy Arduino WiFi shield
*
* This will configure StandardFirmataWiFi to use the original WiFi library (deprecated) provided
* with the Arduino IDE. It is supported by the Arduino WiFi shield (a discontinued product) and
* is compatible with 802.11 B/G networks.
*
* To configure StandardFirmataWiFi to use the legacy Arduino WiFi shield
* leave the #define below uncommented and ensure #define WIFI_101 is commented out for OPTION A.
*/
//#define ARDUINO_WIFI_SHIELD
//do not modify the following 10 lines
#ifdef ARDUINO_WIFI_SHIELD
#include <WiFi.h>
#include "utility/WiFiClientStream.h"
#include "utility/WiFiServerStream.h"
#ifdef WIFI_LIB_INCLUDED
#define MULTIPLE_WIFI_LIB_INCLUDES
#else
#define WIFI_LIB_INCLUDED
#endif
#endif
/*
* OPTION C: Configure for ESP8266
*
* This will configure StandardFirmataWiFi to use the ESP8266WiFi library for boards
* with an ESP8266 chip. It is compatible with 802.11 B/G/N networks.
*
* The appropriate libraries are included automatically when compiling for the ESP8266 so
* continue on to STEP 2.
*
* IMPORTANT: You must have the esp8266 board support installed. To easily install this board see
* the instructions here: https://github.com/esp8266/Arduino#installing-with-boards-manager.
*/
//do not modify the following 14 lines
#ifdef ESP8266
// automatically include if compiling for ESP8266
#define ESP8266_WIFI
#endif
#ifdef ESP8266_WIFI
#include <ESP8266WiFi.h>
#include "utility/WiFiClientStream.h"
#include "utility/WiFiServerStream.h"
#ifdef WIFI_LIB_INCLUDED
#define MULTIPLE_WIFI_LIB_INCLUDES
#else
#define WIFI_LIB_INCLUDED
#endif
#endif
/*
* OPTION D: Configure for HUZZAH
*
* HUZZAH with CC3000 is not yet supported, this will be added in a later revision to
* StandardFirmataWiFi.
* For HUZZAH with ESP8266 use ESP8266_WIFI.
*/
//------------------------------
// TODO
//------------------------------
//#define HUZZAH_WIFI
// STEP 2 [OPTIONAL for all boards and shields]
// If you want to setup you board as a TCP client, uncomment the following define and replace
// the IP address with the IP address of your server.
//#define SERVER_IP 10, 0, 0, 15
// STEP 3 [REQUIRED for all boards and shields]
// replace this with your wireless network SSID
char ssid[] = "your_network_name";
// STEP 4 [OPTIONAL for all boards and shields]
// If you want to use a static IP (v4) address, uncomment the line below. You can also change the IP.
// If the first line is commented out, the WiFi shield will attempt to get an IP from the DHCP server.
// If you are using a static IP with the ESP8266 then you must also uncomment the SUBNET and GATEWAY.
//#define STATIC_IP_ADDRESS 192,168,1,113
//#define SUBNET_MASK 255,255,255,0 // REQUIRED for ESP8266_WIFI, optional for others
//#define GATEWAY_IP_ADDRESS 0,0,0,0 // REQUIRED for ESP8266_WIFI, optional for others
// STEP 5 [REQUIRED for all boards and shields]
// define your port number here, you will need this to open a TCP connection to your Arduino
#define SERVER_PORT 3030
// STEP 6 [REQUIRED for all boards and shields]
// determine your network security type (OPTION A, B, or C). Option A is the most common, and the
// default.
/*
* OPTION A: WPA / WPA2
*
* WPA is the most common network security type. A passphrase is required to connect to this type.
*
* To enable, leave #define WIFI_WPA_SECURITY uncommented below, set your wpa_passphrase value
* appropriately, and do not uncomment the #define values under options B and C
*/
#define WIFI_WPA_SECURITY
#ifdef WIFI_WPA_SECURITY
char wpa_passphrase[] = "your_wpa_passphrase";
#endif //WIFI_WPA_SECURITY
/*
* OPTION B: WEP
*
* WEP is a less common (and regarded as less safe) security type. A WEP key and its associated
* index are required to connect to this type.
*
* To enable, Uncomment the #define below, set your wep_index and wep_key values appropriately,
* and verify the #define values under options A and C are commented out.
*/
//#define WIFI_WEP_SECURITY
#ifdef WIFI_WEP_SECURITY
//The wep_index below is a zero-indexed value.
//Valid indices are [0-3], even if your router/gateway numbers your keys [1-4].
byte wep_index = 0;
char wep_key[] = "your_wep_key";
#endif //WIFI_WEP_SECURITY
/*
* OPTION C: Open network (no security)
*
* Open networks have no security, can be connected to by any device that knows the ssid, and are
* unsafe.
*
* To enable, uncomment #define WIFI_NO_SECURITY below and verify the #define values
* under options A and B are commented out.
*/
//#define WIFI_NO_SECURITY
/*==============================================================================
* CONFIGURATION ERROR CHECK (don't change anything here)
*============================================================================*/
#ifdef MULTIPLE_WIFI_LIB_INCLUDES
#error "you may not define more than one wifi device type in wifiConfig.h."
#endif
#ifndef WIFI_LIB_INCLUDED
#error "you must define a wifi device type in wifiConfig.h."
#endif
#if ((defined(WIFI_NO_SECURITY) && (defined(WIFI_WEP_SECURITY) || defined(WIFI_WPA_SECURITY))) || (defined(WIFI_WEP_SECURITY) && defined(WIFI_WPA_SECURITY)))
#error "you may not define more than one security type at the same time in wifiConfig.h."
#endif //WIFI_* security define check
#if !(defined(WIFI_NO_SECURITY) || defined(WIFI_WEP_SECURITY) || defined(WIFI_WPA_SECURITY))
#error "you must define a wifi security type in wifiConfig.h."
#endif //WIFI_* security define check
#if (defined(ESP8266_WIFI) && !(defined(WIFI_NO_SECURITY) || (defined(WIFI_WPA_SECURITY))))
#error "you must choose between WIFI_NO_SECURITY and WIFI_WPA_SECURITY"
#endif
/*==============================================================================
* WIFI STREAM (don't change anything here)
*============================================================================*/
#ifdef SERVER_IP
WiFiClientStream stream(IPAddress(SERVER_IP), SERVER_PORT);
#else
WiFiServerStream stream(SERVER_PORT);
#endif
/*==============================================================================
* PIN IGNORE MACROS (don't change anything here)
*============================================================================*/
#if defined(WIFI_101) && !defined(ARDUINO_SAMD_MKR1000)
// ignore SPI pins, pin 5 (reset WiFi101 shield), pin 7 (WiFi handshake) and pin 10 (WiFi SS)
// also don't ignore SS pin if it's not pin 10. Not needed for Arduino MKR1000.
#define IS_IGNORE_PIN(p) ((p) == 10 || (IS_PIN_SPI(p) && (p) != SS) || (p) == 5 || (p) == 7)
#elif defined(ARDUINO_WIFI_SHIELD) && defined(__AVR_ATmega32U4__)
// ignore SPI pins, pin 4 (SS for SD-Card on WiFi-shield), pin 7 (WiFi handshake) and pin 10 (WiFi SS)
// On Leonardo, pin 24 maps to D4 and pin 28 maps to D10
#define IS_IGNORE_PIN(p) ((IS_PIN_SPI(p) || (p) == 4) || (p) == 7 || (p) == 10 || (p) == 24 || (p) == 28)
#elif defined(ARDUINO_WIFI_SHIELD)
// ignore SPI pins, pin 4 (SS for SD-Card on WiFi-shield), pin 7 (WiFi handshake) and pin 10 (WiFi SS)
#define IS_IGNORE_PIN(p) ((IS_PIN_SPI(p) || (p) == 4) || (p) == 7 || (p) == 10)
#elif defined(ESP8266_WIFI) && defined(SERIAL_DEBUG)
#define IS_IGNORE_PIN(p) ((p) == 1)
#endif

265
arduino/libraries/Firmata/extras/revisions.txt Normal file
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FIRMATA 2.5.7 - Aug 19, 2017
[core library]
* Added support for Adafruit nrf52 boards (hathach)
* Added TCP server option to StandardFirmataEthernet (MJPees)
* Added support for STM32-based boards (fpistm)
* Added support for MKRFox1200 (sandeepmistry)
[StandardFirmata & variants]
* Fixed I2C config parameter interpretation (zfields)
* Improve debug output in StandardFirmataEthernet
FIRMATA 2.5.6 - Mar 18, 2017
[core library]
* Fixed string encoder/decoder bug that also affected I2C (Zak Fields)
* Added support for Arduino Primo (chiararuggeri)
* Added unit tests for Firmata string message encoding/decoding
FIRMATA 2.5.5 - Mar 6, 2017
[core library]
* Updated BLEStream for compatibility with CurieBLE v2 (Sandeep Mistry)
* Added support for MKRZero (Sandeep Mistry)
This update also includes a number of changes from an ongoing refactor by
Zak Fields of the Firmata core. These changes don't impact user facing sketches,
they are all internal only. Changes include:
* Split out parser logic into new lib free of Arduino-specific dependencies.
* Add new class to support cross platform marshalling of Firmata procedure calls.
* Split out core constants to separate file.
* Split out core defines to separate file.
* Added firmata namespace to core library classes.
FIRMATA 2.5.4 - Oct 23, 2016
[core library]
* Added Teensy 3.5 and 3.6 to Boards.h
* Assign blinkVersionDisabled in constructor to fix compiler issue in Arduino 1.0.6
[StandardFirmata & variants]
* Only disable PWM when setting pinMode to OUTPUT if pinMode was previously PWM
* Forward declare some functions to fix compiler issues with older IDE versions
FIRMATA 2.5.3 - Jun 18, 2016
[core library]
* Added ESP8266 support (Jens B. & Jacob Rosenthal)
* Added host connection callback (Jens B.)
* Added Wi-Fi TCP client (Jens B.)
* Added BLE transport (BLEStream based on BLESerial by Volta Molda)
* Fixed Arduino Galileo and Edison compile issues
[StandardFirmata & variants]
* Added StandardFirmataBLE (for use with Arduino 101)
* Added ability to choose between Wi-Fi TCP client or server (Jens B.)
* Various updates to StandardFirmataWiFi (Jens B.)
* Increased I2C RX data buffer from 32 to 64 bytes (Rick Waldron)
* Removed StandardFirmataEthernetPlus
* Made StandardFirmataEtherent configurable (to optionally add Plus functionality)
* Improved configuration instructions for StandardFirmataEthernet and StandardFirmataWiFi
FIRMATA 2.5.2 - Feb 15, 2016
[core library]
* Added Wi-Fi transport (Jesse Frush)
* Added support for Arduino MKR1000 (Jesse Frush)
* Moved Serial feature to own class SerialFirmata
* Moved pin config and pin state handling to Firmata.cpp
* Added new method disableBlinkVersion to provide a way to optionally bypass startup blink sequence
[StandardFirmata & variants]
* Added StandardFirmataWiFi (Jesse Frush)
* Added ethernetConfig.h for StandardFirmataEthernet and StandardFirmtaEthernetPlus
* Removed serialUtils.h and using SerialFirmata class instead for Serial feature
FIRMATA 2.5.1 - Dec 26, 2015
[core library]
* Added support for Arduino 101
* Make VERSION_BLINK_PIN optional
* Separate protocol version from firmware version.
Use FIRMATA_PROTOCOL_VERSION_[MAJOR/MINOR/BUGFIX] for protocol and use
FIRMATA_FIRMWARE_VERSION_[MAJOR/MINOR/BUGFIX] for firmware (library version).
[StandardFirmata & variants]
* Added ability to auto-restart I2C transmission by setting bit 6 of byte 3
of the I2C_REQUEST message.
FIRMATA 2.5.0 - Nov 7, 2015
[core library]
* Added Serial feature for interfacing with serial devices via hardware
or software serial. See github.com/firmata/protocol/serial.md for details
* Added ability to set the value of a pin by sending a single value instead
of a port value. See 'set digital pin value' in github.com/firmata/protocol/protocol.md
for details
* Added support for Arduino Zero board
* Added support for Teensy LC board (copied from Teensy Firmata lib)
* Added support for Pinoccio Scout board (Pawel Szymczykowski)
* Lowered minimun sampling interval from 10 to 1 millisecond
* Added new pin mode (PIN_MODE_PULLUP) for setting the INPUT_PULLUP pin mode
* Changed pin mode defines to safer names (old names still included but
deprecated) - see Firmata.h
[StandardFirmata & variants]
* Created new StandardFirmataPlus that implements the Serial feature
Note: The new Serial features is only implemented in the "Plus" versions of
StandardFirmata.
* Created new StandardFirmataEthernetPlus that implements the Serial feature
* Fixed issue where StandardFirmata was not compiling for Intel Galileo boards
* Moved StandardFirmataYun to its own repo (github.com/firmata/StandardFirmataYun)
FIRMATA 2.4.4 - Aug 9, 2015
[core library]
* Added support for chipKIT boards (Brian Schmalz, Rick Anderson and Keith Vogel)
* Added support for ATmega328 boards (previously only ATmega328p was supported)
[StandardFirmata]
* Added StandardFirmataChipKIT for ChipKIT boards (Brian Schmalz, Rick Anderson and Keith Vogel)
* Ensure Serial is ready on Leonardo and other ATMega32u4-based boards
FIRMATA 2.4.3 - Apr 11, 2015
[core library]
* Added debug macros (utility/firmataDebug.h)
* Added Norbert Truchsess' EthernetClientStream lib from the configurable branch
[examples]
* Added StandardFirmataEthernet to enable Firmata over Ethernet
* Minor updates to StandardFirmata and StandardFirmataYun
FIRMATA 2.4.2 - Mar 16, 2015
[core library]
* Add support for Teesy 3.1 (Olivier Louvignes)
FIRMATA 2.4.1 - Feb 7, 2015
[core library]
* Fixed off-by-one bug in setFirmwareNameAndVersion (Brian Schmalz)
[StandardFirmata]
* Prevent analog values from being reported during system reset
FIRMATA 2.4.0 - Dec 21, 2014
Changes from 2.3.6 to 2.4 that may impact existing Firmata client implementations:
* When sending a string from the client application to the board (STRING_DATA) a
static buffer is now used for the incoming string in place of a dynamically allocated
block of memory (see Firmata.cpp lines 181 - 205). In Firmata 2.3.6 and older,
the dynamically allocated block was never freed, causing a memory leak. If your
client library had freed this memory in the string callback method, that code
will break in Firmata 2.4. If the string data needs to persist beyond the string
callback, it should be copied within the string callback.
* As of Firmata 2.4, when digital port reporting or analog pin reporting is enabled,
the value of the port (digital) or pin (analog) is immediately sent back to the client
application. This will likely not have a negative impact on existing client
implementations, but may be unexpected. This feature was added to better support
non-serial streams (such as Ethernet, Wi-Fi, Bluetooth, etc) that may lose
connectivity and need a quick way to get the current state of the pins upon
reestablishing a connection.
[core library]
* Changed sendValueAsTwo7bitBytes, startSysex and endSysex from private to
public methods.
* Added Intel Galileo to Boards.h
* Renamed FirmataSerial to FirmataStream
* Updated to latest Arduino library format
* writePort function in Boards.h now returns 1 (to suppress compiler warning)
* Updated syntax highlighting (keywords.txt)
* Fixed IS_PIN_SPI ifndef condition in boards.h
* Added constants to Firmata.h to reserve configurable firmata features
* Fixed issue where firmwareName was not reported correctly in Windows
* Ensure incoming String via STRING_DATA command is null-terminated
* Fixed memory leak when receiving String via STRING_DATA command
(note this change may break existing code if you were manually deallocating
the incoming string in your string callback function. See code for details)
* Added ability for user to specify a filename when calling setFirmwareNameAndVersion
* Increased input data buffer size from 32 to 64 bytes
[StandardFirmata]
* Updated I2C_READ_CONTINUOUSLY to work with or without slaveRegister (Rick Waldron)
* Added Yun variant of StandardFirmata
* When a digital port is enabled, its value is now immediately sent to the client
* When an analog pin is enabled, its value is now immediately sent to the client
* Changed the way servo pins are mapped to enable use of servos on
a wider range of pins, including analog pins.
* Fixed management of unexpected sized I2C replies (Nahuel Greco)
* Fixed a bug when removing a monitored device with I2C_STOP_Reading (Nahuel Greco)
* Fixed conditional expression in I2C_STOP_READING case
* Changed samplingInterval from type int to type unsigned int
* Shortened error message strings to save a few bytes
[examples]
* Updated FirmataServo example to use new pin mapping technique
* Removed makefiles from examples (because they were not being updated)
* Updated all examples to set current firmware version
FIRMATA 2.3.6 - Jun 18, 2013 (Version included with Arduino core libraries)
[core library]
* Fixed bug introduced in 2.3.5 that broke ability to use Ethernet.
FIRMATA 2.3.5 - May 21, 2013
[core library]
* Added Arduino Due to Boards.h
* Added Teensy 3.0 to Boards.h
* Updated unit tests to use ArduinoUnit v2.0
* Renamed pin13strobe to strobeBlinkPin
* Removed blinkVersion method from begin method for non-serial streams
* Fixed memory leak in setting firmware version (Matthew Murdoch)
* Added unit tests for a few core functions (Matthew Murdoch)
* Added IS_PIN_SPI macro to all board definitions in Board.h (Norbert Truchsess)
FIRMATA 2.3.4 - Feb 11, 2013
[core library]
* Fixed Stream implementation so Firmata can be used with Streams other than
Serial (Norbert Truchsess)
FIRMATA 2.3.3 - Oct 6, 2012
[core library]
* Added write method to expose FirmataSerial.write
* Added Arduino Leonardo to Boards.h
[StandardFirmata]
* Changed all instances of Serial.write to Firmata.write
* Fixed delayMicroseconds(0) bug in readAndReportData
FIRMATA 2.3.0 - 2.3.2
* Removed angle from servo config
* Changed file extensions from .pde to .ino
* Added MEGA2560 to Boards.h
* Added I2C pins to Boards.h
* Modified examples to be compatible with Arduino 0022 and 1.0 or greater
* Removed I2CFirmata example
* Changes to StandardFirmata
* Added I2C support
* Added system reset message to reset all pins to default config on sysex reset
FIRMATA 2.2 (changes prior to Firmata 2.3.0 were not well documented)
* changes undocumented
FIRMATA 2.1
* added support for changing the sampling interval
* added Servo support
FIRMATA 2.0
* changed to 8-bit port-based digital messages to mirror ports from previous 14-bit ports modeled after the standard Arduino board.
* switched order of version message so major version is reported first
FIRMATA 1.0
* switched to MIDI-compatible packet format (though the message interpretation differs)

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#######################################
# Syntax Coloring Map For Firmata
#######################################
#######################################
# Datatypes (KEYWORD1)
#######################################
Firmata KEYWORD1 Firmata
callbackFunction KEYWORD1 callbackFunction
systemResetCallbackFunction KEYWORD1 systemResetCallbackFunction
stringCallbackFunction KEYWORD1 stringCallbackFunction
sysexCallbackFunction KEYWORD1 sysexCallbackFunction
#######################################
# Methods and Functions (KEYWORD2)
#######################################
begin KEYWORD2
printVersion KEYWORD2
blinkVersion KEYWORD2
printFirmwareVersion KEYWORD2
setFirmwareVersion KEYWORD2
setFirmwareNameAndVersion KEYWORD2
available KEYWORD2
processInput KEYWORD2
isParsingMessage KEYWORD2
parse KEYWORD2
sendAnalog KEYWORD2
sendDigital KEYWORD2
sendDigitalPort KEYWORD2
sendString KEYWORD2
sendSysex KEYWORD2
getPinMode KEYWORD2
setPinMode KEYWORD2
getPinState KEYWORD2
setPinState KEYWORD2
attach KEYWORD2
detach KEYWORD2
write KEYWORD2
sendValueAsTwo7bitBytes KEYWORD2
startSysex KEYWORD2
endSysex KEYWORD2
writePort KEYWORD2
readPort KEYWORD2
disableBlinkVersion KEYWORD2
#######################################
# Constants (LITERAL1)
#######################################
FIRMATA_MAJOR_VERSION LITERAL1
FIRMATA_MINOR_VERSION LITERAL1
FIRMATA_BUGFIX_VERSION LITERAL1
MAX_DATA_BYTES LITERAL1
DIGITAL_MESSAGE LITERAL1
ANALOG_MESSAGE LITERAL1
REPORT_ANALOG LITERAL1
REPORT_DIGITAL LITERAL1
REPORT_VERSION LITERAL1
SET_PIN_MODE LITERAL1
SET_DIGITAL_PIN_VALUE LITERAL1
SYSTEM_RESET LITERAL1
START_SYSEX LITERAL1
END_SYSEX LITERAL1
REPORT_FIRMWARE LITERAL1
STRING_DATA LITERAL1
PIN_MODE_ANALOG LITERAL1
PIN_MODE_PWM LITERAL1
PIN_MODE_SERVO LITERAL1
PIN_MODE_SHIFT LITERAL1
PIN_MODE_I2C LITERAL1
PIN_MODE_ONEWIRE LITERAL1
PIN_MODE_STEPPER LITERAL1
PIN_MODE_ENCODER LITERAL1
PIN_MODE_SERIAL LITERAL1
PIN_MODE_PULLUP LITERAL1
PIN_MODE_IGNORE LITERAL1
TOTAL_PINS LITERAL1
TOTAL_ANALOG_PINS LITERAL1
TOTAL_DIGITAL_PINS LITERAL1
TOTAL_PIN_MODES LITERAL1
TOTAL_PORTS LITERAL1
ANALOG_PORT LITERAL1
MAX_SERVOS LITERAL1

9
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name=Firmata
version=2.5.8
author=Firmata Developers
maintainer=https://github.com/firmata/arduino
sentence=Enables the communication with computer apps using a standard serial protocol. For all Arduino/Genuino 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=https://github.com/firmata/arduino
architectures=*

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# Firmata
[![Gitter](https://badges.gitter.im/Join%20Chat.svg)](https://gitter.im/firmata/arduino?utm_source=badge&utm_medium=badge&utm_campaign=pr-badge&utm_content=badge)
Firmata is a protocol for communicating with microcontrollers from software on a host computer. The [protocol](https://github.com/firmata/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. If you would like to contribute to Firmata, please see the [Contributing](#contributing) section below.
# Contents
- [Usage](#usage)
- [Firmata Client Libraries](#firmata-client-libraries)
- [Updating Firmata in the Arduino IDE - Arduino 1.6.4 and higher](#updating-firmata-in-the-arduino-ide---arduino-164-and-higher)
- [Cloning Firmata](#cloning-firmata)
- [Updating Firmata in the Arduino IDE - older versions (<= 1.6.3 or 1.0.x)](#updating-firmata-in-the-arduino-ide---older-versions--163-or-10x)
- [Mac OSX:](#mac-osx)
- [Windows](#windows)
- [Linux](#linux)
- [Using the Source code rather than release archive (only for versions older than Arduino 1.6.3)](#using-the-source-code-rather-than-release-archive-only-for-versions-older-than-arduino-163)
- [Contributing](#contributing)
## 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 (or one of the variants such as StandardFirmataPlus or StandardFirmataEthernet depending on your needs) 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:
* processing
* [https://github.com/firmata/processing](https://github.com/firmata/processing)
* [http://funnel.cc](http://funnel.cc)
* python
* [https://github.com/MrYsLab/pymata-aio](https://github.com/MrYsLab/pymata-aio)
* [https://github.com/MrYsLab/PyMata]([https://github.com/MrYsLab/PyMata)
* [https://github.com/tino/pyFirmata](https://github.com/tino/pyFirmata)
* [https://github.com/lupeke/python-firmata](https://github.com/lupeke/python-firmata)
* [https://github.com/firmata/pyduino](https://github.com/firmata/pyduino)
* perl
* [https://github.com/ntruchsess/perl-firmata](https://github.com/ntruchsess/perl-firmata)
* [https://github.com/rcaputo/rx-firmata](https://github.com/rcaputo/rx-firmata)
* ruby
* [https://github.com/hardbap/firmata](https://github.com/hardbap/firmata)
* [https://github.com/PlasticLizard/rufinol](https://github.com/PlasticLizard/rufinol)
* [http://funnel.cc](http://funnel.cc)
* clojure
* [https://github.com/nakkaya/clodiuno](https://github.com/nakkaya/clodiuno)
* [https://github.com/peterschwarz/clj-firmata](https://github.com/peterschwarz/clj-firmata)
* javascript
* [https://github.com/firmata/firmata.js](https://github.com/firmata/firmata.js)
* [https://github.com/rwldrn/johnny-five](https://github.com/rwldrn/johnny-five)
* [http://breakoutjs.com](http://breakoutjs.com)
* java
* [https://github.com/kurbatov/firmata4j](https://github.com/kurbatov/firmata4j)
* [https://github.com/4ntoine/Firmata](https://github.com/4ntoine/Firmata)
* [https://github.com/reapzor/FiloFirmata](https://github.com/reapzor/FiloFirmata)
* .NET
* [https://github.com/SolidSoils/Arduino](https://github.com/SolidSoils/Arduino)
* [http://www.acraigie.com/programming/firmatavb/default.html](http://www.acraigie.com/programming/firmatavb/default.html)
* Flash/AS3
* [http://funnel.cc](http://funnel.cc)
* [http://code.google.com/p/as3glue/](http://code.google.com/p/as3glue/)
* PHP
* [https://github.com/ThomasWeinert/carica-firmata]()
* [https://github.com/oasynnoum/phpmake_firmata](https://github.com/oasynnoum/phpmake_firmata)
* Haskell
* [http://hackage.haskell.org/package/hArduino](http://hackage.haskell.org/package/hArduino)
* iOS
* [https://github.com/jacobrosenthal/iosfirmata](https://github.com/jacobrosenthal/iosfirmata)
* Dart
* [https://github.com/nfrancois/firmata](https://github.com/nfrancois/firmata)
* Max/MSP
* [http://www.maxuino.org/](http://www.maxuino.org/)
* Elixir
* [https://github.com/kfatehi/firmata](https://github.com/kfatehi/firmata)
* Modelica
* [https://www.wolfram.com/system-modeler/libraries/model-plug/](https://www.wolfram.com/system-modeler/libraries/model-plug/)
* Go
* [https://github.com/kraman/go-firmata](https://github.com/kraman/go-firmata)
* vvvv
* [https://vvvv.org/blog/arduino-second-service](https://vvvv.org/blog/arduino-second-service)
* openFrameworks
* [http://openframeworks.cc/documentation/communication/ofArduino/](http://openframeworks.cc/documentation/communication/ofArduino/)
* Rust
* [https://github.com/zankich/rust-firmata](https://github.com/zankich/rust-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.
## Updating Firmata in the Arduino IDE - Arduino 1.6.4 and higher
If you want to update to the latest stable version:
1. Open the Arduino IDE and navigate to: `Sketch > Include Library > Manage Libraries`
2. Filter by "Firmata" and click on the "Firmata by Firmata Developers" item in the list of results.
3. Click the `Select version` dropdown and select the most recent version (note you can also install previous versions)
4. Click `Install`.
### Cloning Firmata
If you are contributing to Firmata or otherwise need a version newer than the latest tagged release, you can clone Firmata directly to your Arduino/libraries/ directory (where 3rd party libraries are installed). This only works for Arduino 1.6.4 and higher, for older versions you need to clone into the Arduino application directory (see section below titled "Using the Source code rather than release archive"). Be sure to change the name to Firmata as follows:
```bash
$ git clone git@github.com:firmata/arduino.git ~/Documents/Arduino/libraries/Firmata
```
*Update path above if you're using Windows or Linux or changed the default Arduino directory on OS X*
## Updating Firmata in the Arduino IDE - older versions (<= 1.6.3 or 1.0.x)
Download the latest [release](https://github.com/firmata/arduino/releases/tag/2.5.8) (for Arduino 1.0.x or Arduino 1.5.6 or higher) and replace the existing Firmata folder in your Arduino application. See the instructions below for your platform.
*Note that Arduino 1.5.0 - 1.5.5 are not supported. Please use Arduino 1.5.6 or higher (or Arduino 1.0.5 or 1.0.6).*
### Mac OSX:
The Firmata library is contained within the Arduino package.
1. Navigate to the Arduino application
2. Right click on the application icon and select `Show Package Contents`
3. Navigate to: `/Contents/Resources/Java/libraries/` and replace the existing
`Firmata` folder with latest [Firmata release](https://github.com/firmata/arduino/releases/tag/2.5.8) (note there is a different download
for Arduino 1.0.x vs 1.6.x)
4. Restart the Arduino application and the latest version of Firmata will be available.
*If you are using the Java 7 version of Arduino 1.5.7 or higher, the file path
will differ slightly: `Contents/Java/libraries/Firmata` (no Resources directory).*
### Windows:
1. Navigate to `c:/Program\ Files/arduino-1.x/libraries/` and replace the existing
`Firmata` folder with the latest [Firmata release](https://github.com/firmata/arduino/releases/tag/2.5.8) (note there is a different download
for Arduino 1.0.x vs 1.6.x).
2. Restart the Arduino application and the latest version of Firmata will be available.
*Update the path and Arduino version as necessary*
### Linux:
1. Navigate to `~/arduino-1.x/libraries/` and replace the existing
`Firmata` folder with the latest [Firmata release](https://github.com/firmata/arduino/releases/tag/2.5.8) (note there is a different download
for Arduino 1.0.x vs 1.6.x).
2. Restart the Arduino application and the latest version of Firmata will be available.
*Update the path and Arduino version as necessary*
### Using the Source code rather than release archive (only for versions older than Arduino 1.6.3)
*It is recommended you update to Arduino 1.6.4 or higher if possible, that way you can clone directly into the external Arduino/libraries/ directory which persists between Arduino application updates. Otherwise you will need to move your clone each time you update to a newer version of the Arduino IDE.*
If you're stuck with an older version of the IDE, then follow these keep reading otherwise jump up to the "Cloning Firmata section above".
Clone this repo directly into the core Arduino application libraries directory. If you are using
Arduino 1.5.x or <= 1.6.3, the repo directory structure will not match the Arduino
library format, however it should still compile as long as you are using Arduino 1.5.7
or higher.
You will first need to remove the existing Firmata library, then clone firmata/arduino
into an empty Firmata directory:
```bash
$ rm -r /Applications/Arduino.app/Contents/Resources/Java/libraries/Firmata
$ git clone git@github.com:firmata/arduino.git /Applications/Arduino.app/Contents/Resources/Java/libraries/Firmata
```
*Update paths if you're using Windows or Linux*
To generate properly formatted versions of Firmata (for Arduino 1.0.x and Arduino 1.6.x), run the
`release.sh` script.
## 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 repository and create a new topic branch for the bug, feature or other existing issue you are addressing. Submit the pull request against the *master* 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 thoroughly 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 reviewers.
Use [Artistic Style](http://astyle.sourceforge.net/) (astyle) to format your code. Set the following rules for the astyle formatter:
```
style = ""
indent-spaces = 2
indent-classes = true
indent-switches = true
indent-cases = true
indent-col1-comments = true
pad-oper = true
pad-header = true
keep-one-line-statements = true
```
If you happen to use Sublime Text, [this astyle plugin](https://github.com/timonwong/SublimeAStyleFormatter) is helpful. Set the above rules in the user settings file.

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#!/bin/sh
# use this script to package Firmata for distribution
# package for Arduino 1.0.x
mkdir -p temp/Firmata
cp -r examples temp/Firmata
cp -r extras temp/Firmata
cp -r utility temp/Firmata
cp *.cpp temp/Firmata
cp *.h temp/Firmata
cp keywords.txt temp/Firmata
cp readme.md temp/Firmata
cd temp
find . -name "*.DS_Store" -type f -delete
zip -r Firmata.zip ./Firmata/
cd ..
mv ./temp/Firmata.zip Arduino-1.0.x-Firmata-2.5.8.zip
#package for Arduino 1.6.x and 1.8.x
cp library.properties temp/Firmata
cd temp/Firmata
mv readme.md ./extras/
mkdir src
mv *.cpp ./src/
mv *.h ./src/
mv utility ./src/
cd ..
find . -name "*.DS_Store" -type f -delete
zip -r Firmata.zip ./Firmata/
cd ..
mv ./temp/Firmata.zip Firmata-2.5.8.zip
rm -r ./temp

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/*
* To run this test suite, you must first install the ArduinoUnit library
* to your Arduino/libraries/ directory.
* You can get ArduinoUnit here: https://github.com/mmurdoch/arduinounit
* Download version 2.0 or greater or install it via the Arduino library manager.
*/
#include <ArduinoUnit.h>
#include <Firmata.h>
void setup()
{
Serial.begin(9600);
}
void loop()
{
Test::run();
}
test(beginPrintsVersion)
{
FakeStream stream;
Firmata.begin(stream);
char expected[] = {
REPORT_VERSION,
FIRMATA_PROTOCOL_MAJOR_VERSION,
FIRMATA_PROTOCOL_MINOR_VERSION,
0
};
assertEqual(expected, stream.bytesWritten());
}
void processMessage(const byte *message, size_t length)
{
FakeStream stream;
Firmata.begin(stream);
for (size_t i = 0; i < length; i++) {
stream.nextByte(message[i]);
Firmata.processInput();
}
}
byte _digitalPort;
int _digitalPortValue;
void writeToDigitalPort(byte port, int value)
{
_digitalPort = port;
_digitalPortValue = value;
}
void setupDigitalPort()
{
_digitalPort = 0;
_digitalPortValue = 0;
}
char * _receivedString;
void handleStringCallback(char *str)
{
_receivedString = str;
}
test(processWriteDigital_0)
{
setupDigitalPort();
Firmata.attach(DIGITAL_MESSAGE, writeToDigitalPort);
byte message[] = { DIGITAL_MESSAGE, 0, 0 };
processMessage(message, 3);
assertEqual(0, _digitalPortValue);
}
test(processWriteDigital_127)
{
setupDigitalPort();
Firmata.attach(DIGITAL_MESSAGE, writeToDigitalPort);
byte message[] = { DIGITAL_MESSAGE, 127, 0 };
processMessage(message, 3);
assertEqual(127, _digitalPortValue);
}
test(processWriteDigital_128)
{
setupDigitalPort();
Firmata.attach(DIGITAL_MESSAGE, writeToDigitalPort);
byte message[] = { DIGITAL_MESSAGE, 0, 1 };
processMessage(message, 3);
assertEqual(128, _digitalPortValue);
}
test(processWriteLargestDigitalValue)
{
setupDigitalPort();
Firmata.attach(DIGITAL_MESSAGE, writeToDigitalPort);
byte message[] = { DIGITAL_MESSAGE, 0x7F, 0x7F };
processMessage(message, 3);
// Maximum of 14 bits can be set (B0011111111111111)
assertEqual(0x3FFF, _digitalPortValue);
}
test(defaultDigitalWritePortIsZero)
{
setupDigitalPort();
Firmata.attach(DIGITAL_MESSAGE, writeToDigitalPort);
byte message[] = { DIGITAL_MESSAGE, 0, 0 };
processMessage(message, 3);
assertEqual(0, _digitalPort);
}
test(specifiedDigitalWritePort)
{
setupDigitalPort();
Firmata.attach(DIGITAL_MESSAGE, writeToDigitalPort);
byte message[] = { DIGITAL_MESSAGE + 1, 0, 0 };
processMessage(message, 3);
assertEqual(1, _digitalPort);
}
test(setFirmwareVersionDoesNotLeakMemory)
{
Firmata.setFirmwareVersion(1, 0);
int initialMemory = freeMemory();
Firmata.setFirmwareVersion(1, 0);
assertEqual(0, initialMemory - freeMemory());
}
test(sendStringShouldEncode2BytesPerChar)
{
FakeStream stream;
Firmata.begin(stream);
// reset the buffer because the firmware name string will be sent on Firmata.begin
stream.reset();
char testString[] = "hi!";
Firmata.sendString(testString);
byte expected[] = { START_SYSEX, STRING_DATA, 'h', 0, 'i', 0, '!', 0, END_SYSEX };
int len = stream.bytesWritten().length();
assertEqual(sizeof(expected), len);
for (byte i = 0; i < len; i++) {
assertEqual(expected[i], (byte)stream.bytesWritten().charAt(i));
}
}
test(receivedStringShouldDecodeFrom2BytesPerChar)
{
Firmata.attach(STRING_DATA, handleStringCallback);
byte message[] = { START_SYSEX, STRING_DATA, 'b', 0, 'y', 0, 'e', 0, '!', 0, END_SYSEX };
processMessage(message, 11);
assertEqual("bye!", _receivedString);
}

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# Testing Firmata
Tests tests are written using the [ArduinoUnit](https://github.com/mmurdoch/arduinounit) library (version 2.0).
Follow the instructions in the [ArduinoUnit readme](https://github.com/mmurdoch/arduinounit/blob/master/readme.md) to install the library.
Compile and upload the test sketch as you would any other sketch. Then open the
Serial Monitor to view the test results.
If you make changes to Firmata.cpp, run the tests in /test/ to ensure
that your changes have not produced any unexpected errors.
You should also perform manual tests against actual hardware.

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/*
* Implementation is in BLEStream.h to avoid linker issues.
*/

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/*
BLEStream.h
Based on BLESerial.cpp by Voita Molda
https://github.com/sandeepmistry/arduino-BLEPeripheral/blob/master/examples/serial/BLESerial.h
Last updated April 4th, 2016
*/
#ifndef _BLE_STREAM_H_
#define _BLE_STREAM_H_
#include <Arduino.h>
#if defined(_VARIANT_ARDUINO_101_X_)
#include <CurieBLE.h>
#define _MAX_ATTR_DATA_LEN_ BLE_MAX_ATTR_DATA_LEN
#else
#include <BLEPeripheral.h>
#define _MAX_ATTR_DATA_LEN_ BLE_ATTRIBUTE_MAX_VALUE_LENGTH
#endif
#define BLESTREAM_TXBUFFER_FLUSH_INTERVAL 80
#define BLESTREAM_MIN_FLUSH_INTERVAL 8 // minimum interval for flushing the TX buffer
// #define BLE_SERIAL_DEBUG
class BLEStream : public BLEPeripheral, public Stream
{
public:
BLEStream(unsigned char req = 0, unsigned char rdy = 0, unsigned char rst = 0);
void begin(...);
bool poll();
void end();
void setFlushInterval(int);
virtual int available(void);
virtual int peek(void);
virtual int read(void);
virtual void flush(void);
virtual size_t write(uint8_t byte);
using Print::write;
virtual operator bool();
private:
bool _connected;
unsigned long _flushed;
int _flushInterval;
static BLEStream* _instance;
size_t _rxHead;
size_t _rxTail;
size_t _rxCount() const;
unsigned char _rxBuffer[256];
size_t _txCount;
unsigned char _txBuffer[_MAX_ATTR_DATA_LEN_];
BLEService _uartService = BLEService("6E400001-B5A3-F393-E0A9-E50E24DCCA9E");
BLEDescriptor _uartNameDescriptor = BLEDescriptor("2901", "UART");
BLECharacteristic _rxCharacteristic = BLECharacteristic("6E400002-B5A3-F393-E0A9-E50E24DCCA9E", BLEWriteWithoutResponse, _MAX_ATTR_DATA_LEN_);
BLEDescriptor _rxNameDescriptor = BLEDescriptor("2901", "RX - Receive Data (Write)");
BLECharacteristic _txCharacteristic = BLECharacteristic("6E400003-B5A3-F393-E0A9-E50E24DCCA9E", BLENotify, _MAX_ATTR_DATA_LEN_);
BLEDescriptor _txNameDescriptor = BLEDescriptor("2901", "TX - Transfer Data (Notify)");
void _received(const unsigned char* data, size_t size);
static void _received(BLECentral& /*central*/, BLECharacteristic& rxCharacteristic);
};
/*
* BLEStream.cpp
* Copied here as a hack to avoid having to install the BLEPeripheral libarary even if it's
* not needed.
*/
BLEStream* BLEStream::_instance = NULL;
BLEStream::BLEStream(unsigned char req, unsigned char rdy, unsigned char rst) :
#if defined(_VARIANT_ARDUINO_101_X_)
BLEPeripheral()
#else
BLEPeripheral(req, rdy, rst)
#endif
{
this->_txCount = 0;
this->_rxHead = this->_rxTail = 0;
this->_flushed = 0;
this->_flushInterval = BLESTREAM_TXBUFFER_FLUSH_INTERVAL;
BLEStream::_instance = this;
addAttribute(this->_uartService);
addAttribute(this->_uartNameDescriptor);
setAdvertisedServiceUuid(this->_uartService.uuid());
addAttribute(this->_rxCharacteristic);
addAttribute(this->_rxNameDescriptor);
this->_rxCharacteristic.setEventHandler(BLEWritten, BLEStream::_received);
addAttribute(this->_txCharacteristic);
addAttribute(this->_txNameDescriptor);
}
void BLEStream::begin(...)
{
BLEPeripheral::begin();
#ifdef BLE_SERIAL_DEBUG
Serial.println(F("BLEStream::begin()"));
#endif
}
bool BLEStream::poll()
{
// BLEPeripheral::poll is called each time connected() is called
this->_connected = BLEPeripheral::connected();
if (millis() > this->_flushed + this->_flushInterval) {
flush();
}
return this->_connected;
}
void BLEStream::end()
{
this->_rxCharacteristic.setEventHandler(BLEWritten, (void(*)(BLECentral&, BLECharacteristic&))NULL);
this->_rxHead = this->_rxTail = 0;
flush();
BLEPeripheral::disconnect();
}
int BLEStream::available(void)
{
// BLEPeripheral::poll only calls delay(1) in CurieBLE so skipping it here to avoid the delay
#ifndef _VARIANT_ARDUINO_101_X_
// TODO Need to do more testing to determine if all of these calls to BLEPeripheral::poll are
// actually necessary. Seems to run fine without them, but only minimal testing so far.
BLEPeripheral::poll();
#endif
int retval = (this->_rxHead - this->_rxTail + sizeof(this->_rxBuffer)) % sizeof(this->_rxBuffer);
#ifdef BLE_SERIAL_DEBUG
if (retval > 0) {
Serial.print(F("BLEStream::available() = "));
Serial.println(retval);
}
#endif
return retval;
}
int BLEStream::peek(void)
{
#ifndef _VARIANT_ARDUINO_101_X_
BLEPeripheral::poll();
#endif
if (this->_rxTail == this->_rxHead) return -1;
uint8_t byte = this->_rxBuffer[this->_rxTail];
#ifdef BLE_SERIAL_DEBUG
Serial.print(F("BLEStream::peek() = 0x"));
Serial.println(byte, HEX);
#endif
return byte;
}
int BLEStream::read(void)
{
#ifndef _VARIANT_ARDUINO_101_X_
BLEPeripheral::poll();
#endif
if (this->_rxTail == this->_rxHead) return -1;
this->_rxTail = (this->_rxTail + 1) % sizeof(this->_rxBuffer);
uint8_t byte = this->_rxBuffer[this->_rxTail];
#ifdef BLE_SERIAL_DEBUG
Serial.print(F("BLEStream::read() = 0x"));
Serial.println(byte, HEX);
#endif
return byte;
}
void BLEStream::flush(void)
{
if (this->_txCount == 0) return;
#ifndef _VARIANT_ARDUINO_101_X_
// ensure there are available packets before sending
while(!this->_txCharacteristic.canNotify()) {
BLEPeripheral::poll();
}
#endif
this->_txCharacteristic.setValue(this->_txBuffer, this->_txCount);
this->_flushed = millis();
this->_txCount = 0;
#ifdef BLE_SERIAL_DEBUG
Serial.println(F("BLEStream::flush()"));
#endif
}
size_t BLEStream::write(uint8_t byte)
{
#ifndef _VARIANT_ARDUINO_101_X_
BLEPeripheral::poll();
#endif
if (this->_txCharacteristic.subscribed() == false) return 0;
this->_txBuffer[this->_txCount++] = byte;
if (this->_txCount == sizeof(this->_txBuffer)) flush();
#ifdef BLE_SERIAL_DEBUG
Serial.print(F("BLEStream::write( 0x"));
Serial.print(byte, HEX);
Serial.println(F(") = 1"));
#endif
return 1;
}
BLEStream::operator bool()
{
bool retval = this->_connected = BLEPeripheral::connected();
#ifdef BLE_SERIAL_DEBUG
Serial.print(F("BLEStream::operator bool() = "));
Serial.println(retval);
#endif
return retval;
}
void BLEStream::setFlushInterval(int interval)
{
if (interval > BLESTREAM_MIN_FLUSH_INTERVAL) {
this->_flushInterval = interval;
}
}
void BLEStream::_received(const unsigned char* data, size_t size)
{
for (size_t i = 0; i < size; i++) {
this->_rxHead = (this->_rxHead + 1) % sizeof(this->_rxBuffer);
this->_rxBuffer[this->_rxHead] = data[i];
}
#ifdef BLE_SERIAL_DEBUG
Serial.print(F("BLEStream::received("));
for (int i = 0; i < size; i++) Serial.print(data[i], HEX);
Serial.println(F(")"));
#endif
}
void BLEStream::_received(BLECentral& /*central*/, BLECharacteristic& rxCharacteristic)
{
BLEStream::_instance->_received(rxCharacteristic.value(), rxCharacteristic.valueLength());
}
#endif // _BLE_STREAM_H_

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/*
* Implementation is in BluefruitLE_SPI_Stream.h to avoid linker issues.
*/

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/*
BluefruitLE_SPI_Stream.h
Documentation for the various AT commands used below is available at
https://learn.adafruit.com/adafruit-feather-m0-bluefruit-le/at-commands
*/
#ifndef _BLUEFRUIT_LE_SPI_STREAM_H_
#define _BLUEFRUIT_LE_SPI_STREAM_H_
#include <Adafruit_BluefruitLE_SPI.h>
class BluefruitLE_SPI_Stream : public Stream
{
public:
BluefruitLE_SPI_Stream(int8_t csPin, int8_t irqPin, int8_t rstPin);
void setLocalName(const char *localName);
void setConnectionInterval(unsigned short minConnInterval, unsigned short maxConnInterval);
void setFlushInterval(int flushInterval);
void begin();
bool poll();
void end();
// Print overrides
size_t write(uint8_t byte);
using Print::write; // Expose other write variants
// Stream overrides
int available();
int read();
int peek();
void flush();
private:
Adafruit_BluefruitLE_SPI ble;
String localName;
unsigned short minConnInterval;
unsigned short maxConnInterval;
uint8_t txBuffer[SDEP_MAX_PACKETSIZE];
size_t txCount;
};
BluefruitLE_SPI_Stream::BluefruitLE_SPI_Stream(int8_t csPin, int8_t irqPin, int8_t rstPin) :
ble(csPin, irqPin, rstPin),
minConnInterval(0),
maxConnInterval(0),
txCount(0)
{ }
void BluefruitLE_SPI_Stream::setLocalName(const char *localName)
{
this->localName = localName;
}
void BluefruitLE_SPI_Stream::setConnectionInterval(unsigned short minConnInterval, unsigned short maxConnInterval)
{
this->minConnInterval = minConnInterval;
this->maxConnInterval = maxConnInterval;
}
void BluefruitLE_SPI_Stream::setFlushInterval(int flushInterval)
{
// Not used
}
void BluefruitLE_SPI_Stream::begin()
{
// Initialize the SPI interface
ble.begin();
// Perform a factory reset to make sure everything is in a known state
ble.factoryReset();
// Disable command echo from Bluefruit
ble.echo(false);
// Change the MODE LED to indicate BLE UART activity
ble.println("AT+HWMODELED=BLEUART");
// Set local name
if (localName.length() > 0) {
ble.print("AT+GAPDEVNAME=");
ble.println(localName);
}
// Set connection interval
if (minConnInterval > 0 && maxConnInterval > 0) {
ble.print("AT+GAPINTERVALS=");
ble.print(minConnInterval);
ble.print(",");
ble.print(maxConnInterval);
ble.println(",,,");
}
// Disable real and simulated mode switch (i.e. "+++") command
ble.println("AT+MODESWITCHEN=local,0");
ble.enableModeSwitchCommand(false);
// Switch to data mode
ble.setMode(BLUEFRUIT_MODE_DATA);
}
bool BluefruitLE_SPI_Stream::poll()
{
// If there's outgoing data in the buffer, just send it. The firmware on
// the nRF51822 will decide when to transmit the data in its TX FIFO.
if (txCount) flush();
// In order to check for a connection, we would need to switch from data to
// command mode and back again. However, due to the internal workings of
// Adafruit_BluefruitLE_SPI, this can lead to unread incoming data being
// lost. Therefore, we always return true.
return true;
}
void BluefruitLE_SPI_Stream::end()
{
flush();
ble.end();
}
size_t BluefruitLE_SPI_Stream::write(uint8_t byte)
{
txBuffer[txCount++] = byte;
if (txCount == sizeof(txBuffer)) flush();
return 1;
}
int BluefruitLE_SPI_Stream::available()
{
return ble.available();
}
int BluefruitLE_SPI_Stream::read()
{
return ble.read();
}
int BluefruitLE_SPI_Stream::peek()
{
return ble.peek();
}
void BluefruitLE_SPI_Stream::flush()
{
ble.write(txBuffer, txCount);
txCount = 0;
}
#endif // _BLUEFRUIT_LE_SPI_STREAM_H_

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/*
* Implementation is in EthernetClientStream.h to avoid linker issues.
*/

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/*
EthernetClientStream.h
An Arduino-Stream that wraps an instance of Client reconnecting to
the remote-ip in a transparent way. A disconnected client may be
recognized by the returnvalues -1 from calls to peek or read and
a 0 from calls to write.
Copyright (C) 2013 Norbert Truchsess. 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.
Last updated June 18th, 2016
*/
#ifndef ETHERNETCLIENTSTREAM_H
#define ETHERNETCLIENTSTREAM_H
#include <inttypes.h>
#include <Stream.h>
//#define SERIAL_DEBUG
#include "firmataDebug.h"
#define MILLIS_RECONNECT 5000
class EthernetClientStream : public Stream
{
public:
EthernetClientStream(Client &client, IPAddress localip, IPAddress ip, const char* host, uint16_t port);
int available();
int read();
int peek();
void flush();
size_t write(uint8_t);
void maintain(IPAddress localip);
private:
Client &client;
IPAddress localip;
IPAddress ip;
const char* host;
uint16_t port;
bool connected;
uint32_t time_connect;
bool maintain();
void stop();
};
/*
* EthernetClientStream.cpp
* Copied here as a hack to linker issues with 3rd party board packages that don't properly
* implement the Arduino network APIs.
*/
EthernetClientStream::EthernetClientStream(Client &client, IPAddress localip, IPAddress ip, const char* host, uint16_t port)
: client(client),
localip(localip),
ip(ip),
host(host),
port(port),
connected(false)
{
}
int
EthernetClientStream::available()
{
return maintain() ? client.available() : 0;
}
int
EthernetClientStream::read()
{
return maintain() ? client.read() : -1;
}
int
EthernetClientStream::peek()
{
return maintain() ? client.peek() : -1;
}
void EthernetClientStream::flush()
{
if (maintain())
client.flush();
}
size_t
EthernetClientStream::write(uint8_t c)
{
return maintain() ? client.write(c) : 0;
}
void
EthernetClientStream::maintain(IPAddress localip)
{
// ensure the local IP is updated in the case that it is changed by the DHCP server
if (this->localip != localip) {
this->localip = localip;
if (connected)
stop();
}
}
void
EthernetClientStream::stop()
{
client.stop();
connected = false;
time_connect = millis();
}
bool
EthernetClientStream::maintain()
{
if (client && client.connected())
return true;
if (connected) {
stop();
}
// if the client is disconnected, attempt to reconnect every 5 seconds
else if (millis() - time_connect >= MILLIS_RECONNECT) {
connected = host ? client.connect(host, port) : client.connect(ip, port);
if (!connected) {
time_connect = millis();
DEBUG_PRINTLN("Connection failed. Attempting to reconnect...");
} else {
DEBUG_PRINTLN("Connected");
}
}
return connected;
}
#endif /* ETHERNETCLIENTSTREAM_H */

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/*
* Implementation is in EthernetServerStream.h to avoid linker issues.
*/

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/*
EthernetServerStream.h
Copyright (C) 2017 Marc Josef Pees. 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.
Last updated July 10th, 2017
*/
#ifndef ETHERNETSERVERSTREAM_H
#define ETHERNETSERVERSTREAM_H
#include <inttypes.h>
#include <Stream.h>
#include <Ethernet.h>
//#define SERIAL_DEBUG
#include "firmataDebug.h"
class EthernetServerStream : public Stream
{
public:
EthernetServerStream(IPAddress localip, uint16_t port);
int available();
int read();
int peek();
void flush();
size_t write(uint8_t);
void maintain(IPAddress localip);
private:
EthernetClient client;
IPAddress localip;
uint16_t port;
bool connected;
bool maintain();
void stop();
protected:
EthernetServer server = EthernetServer(3030);
bool listening = false;
bool connect_client();
};
/*
* EthernetServerStream.cpp
* Copied here as a hack to linker issues with 3rd party board packages that don't properly
* implement the Arduino network APIs.
*/
EthernetServerStream::EthernetServerStream(IPAddress localip, uint16_t port)
: localip(localip),
port(port),
connected(false)
{
}
bool EthernetServerStream::connect_client()
{
if ( connected )
{
if ( client && client.connected() ) return true;
stop();
}
EthernetClient newClient = server.available();
if ( !newClient ) return false;
client = newClient;
connected = true;
DEBUG_PRINTLN("Connected");
return true;
}
int
EthernetServerStream::available()
{
return maintain() ? client.available() : 0;
}
int
EthernetServerStream::read()
{
return maintain() ? client.read() : -1;
}
int
EthernetServerStream::peek()
{
return maintain() ? client.peek() : -1;
}
void EthernetServerStream::flush()
{
if (maintain())
client.flush();
}
size_t
EthernetServerStream::write(uint8_t c)
{
return maintain() ? client.write(c) : 0;
}
void
EthernetServerStream::maintain(IPAddress localip)
{
// ensure the local IP is updated in the case that it is changed by the DHCP server
if (this->localip != localip) {
this->localip = localip;
if (connected)
stop();
}
}
void
EthernetServerStream::stop()
{
if(client)
{
client.stop();
}
connected = false;
}
bool
EthernetServerStream::maintain()
{
if (connect_client()) return true;
stop();
if(!listening)
{
server = EthernetServer(port);
server.begin();
listening = true;
}
return false;
}
#endif /* ETHERNETSERVERSTREAM_H */

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/*
FirmataFeature.h
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) 2013 Norbert Truchsess. All rights reserved.
Copyright (C) 2009-2016 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.
Interface for Firmata feature classes.
This version of FirmataFeature.h differs from the ConfigurableFirmata
version in the following ways:
- Imports Firmata.h rather than ConfigurableFirmata.h
See file LICENSE.txt for further informations on licensing terms.
*/
#ifndef FirmataFeature_h
#define FirmataFeature_h
#include <Firmata.h>
class FirmataFeature
{
public:
virtual void handleCapability(byte pin) = 0;
virtual boolean handlePinMode(byte pin, int mode) = 0;
virtual boolean handleSysex(byte command, byte argc, byte* argv) = 0;
virtual void reset() = 0;
};
#endif

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/*
SerialFirmata.cpp
Copyright (C) 2016 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.
This version of SerialFirmata.cpp differs from the ConfigurableFirmata
version in the following ways:
- handlePinMode calls Firmata::setPinMode
Last updated October 16th, 2016
*/
#include "SerialFirmata.h"
SerialFirmata::SerialFirmata()
{
#if defined(SoftwareSerial_h)
swSerial0 = NULL;
swSerial1 = NULL;
swSerial2 = NULL;
swSerial3 = NULL;
#endif
serialIndex = -1;
}
boolean SerialFirmata::handlePinMode(byte pin, int mode)
{
// used for both HW and SW serial
if (mode == PIN_MODE_SERIAL) {
Firmata.setPinMode(pin, PIN_MODE_SERIAL);
return true;
}
return false;
}
void SerialFirmata::handleCapability(byte pin)
{
if (IS_PIN_SERIAL(pin)) {
Firmata.write(PIN_MODE_SERIAL);
Firmata.write(getSerialPinType(pin));
}
}
boolean SerialFirmata::handleSysex(byte command, byte argc, byte *argv)
{
if (command == SERIAL_MESSAGE) {
Stream *serialPort;
byte mode = argv[0] & SERIAL_MODE_MASK;
byte portId = argv[0] & SERIAL_PORT_ID_MASK;
switch (mode) {
case SERIAL_CONFIG:
{
long baud = (long)argv[1] | ((long)argv[2] << 7) | ((long)argv[3] << 14);
serial_pins pins;
if (portId < 8) {
serialPort = getPortFromId(portId);
if (serialPort != NULL) {
pins = getSerialPinNumbers(portId);
if (pins.rx != 0 && pins.tx != 0) {
Firmata.setPinMode(pins.rx, PIN_MODE_SERIAL);
Firmata.setPinMode(pins.tx, PIN_MODE_SERIAL);
// Fixes an issue where some serial devices would not work properly with Arduino Due
// because all Arduino pins are set to OUTPUT by default in StandardFirmata.
pinMode(pins.rx, INPUT);
}
((HardwareSerial*)serialPort)->begin(baud);
}
} else {
#if defined(SoftwareSerial_h)
byte swTxPin, swRxPin;
if (argc > 4) {
swRxPin = argv[4];
swTxPin = argv[5];
} else {
// RX and TX pins must be specified when using SW serial
Firmata.sendString("Specify serial RX and TX pins");
return false;
}
switch (portId) {
case SW_SERIAL0:
if (swSerial0 == NULL) {
swSerial0 = new SoftwareSerial(swRxPin, swTxPin);
}
break;
case SW_SERIAL1:
if (swSerial1 == NULL) {
swSerial1 = new SoftwareSerial(swRxPin, swTxPin);
}
break;
case SW_SERIAL2:
if (swSerial2 == NULL) {
swSerial2 = new SoftwareSerial(swRxPin, swTxPin);
}
break;
case SW_SERIAL3:
if (swSerial3 == NULL) {
swSerial3 = new SoftwareSerial(swRxPin, swTxPin);
}
break;
}
serialPort = getPortFromId(portId);
if (serialPort != NULL) {
Firmata.setPinMode(swRxPin, PIN_MODE_SERIAL);
Firmata.setPinMode(swTxPin, PIN_MODE_SERIAL);
((SoftwareSerial*)serialPort)->begin(baud);
}
#endif
}
break; // SERIAL_CONFIG
}
case SERIAL_WRITE:
{
byte data;
serialPort = getPortFromId(portId);
if (serialPort == NULL) {
break;
}
for (byte i = 1; i < argc; i += 2) {
data = argv[i] + (argv[i + 1] << 7);
serialPort->write(data);
}
break; // SERIAL_WRITE
}
case SERIAL_READ:
if (argv[1] == SERIAL_READ_CONTINUOUSLY) {
if (serialIndex + 1 >= MAX_SERIAL_PORTS) {
break;
}
if (argc > 2) {
// maximum number of bytes to read from buffer per iteration of loop()
serialBytesToRead[portId] = (int)argv[2] | ((int)argv[3] << 7);
} else {
// read all available bytes per iteration of loop()
serialBytesToRead[portId] = 0;
}
serialIndex++;
reportSerial[serialIndex] = portId;
} else if (argv[1] == SERIAL_STOP_READING) {
byte serialIndexToSkip = 0;
if (serialIndex <= 0) {
serialIndex = -1;
} else {
for (byte i = 0; i < serialIndex + 1; i++) {
if (reportSerial[i] == portId) {
serialIndexToSkip = i;
break;
}
}
// shift elements over to fill space left by removed element
for (byte i = serialIndexToSkip; i < serialIndex + 1; i++) {
if (i < MAX_SERIAL_PORTS) {
reportSerial[i] = reportSerial[i + 1];
}
}
serialIndex--;
}
}
break; // SERIAL_READ
case SERIAL_CLOSE:
serialPort = getPortFromId(portId);
if (serialPort != NULL) {
if (portId < 8) {
((HardwareSerial*)serialPort)->end();
} else {
#if defined(SoftwareSerial_h)
((SoftwareSerial*)serialPort)->end();
if (serialPort != NULL) {
free(serialPort);
serialPort = NULL;
}
#endif
}
}
break; // SERIAL_CLOSE
case SERIAL_FLUSH:
serialPort = getPortFromId(portId);
if (serialPort != NULL) {
getPortFromId(portId)->flush();
}
break; // SERIAL_FLUSH
#if defined(SoftwareSerial_h)
case SERIAL_LISTEN:
// can only call listen() on software serial ports
if (portId > 7) {
serialPort = getPortFromId(portId);
if (serialPort != NULL) {
((SoftwareSerial*)serialPort)->listen();
}
}
break; // SERIAL_LISTEN
#endif
} // end switch
return true;
}
return false;
}
void SerialFirmata::update()
{
checkSerial();
}
void SerialFirmata::reset()
{
#if defined(SoftwareSerial_h)
Stream *serialPort;
// free memory allocated for SoftwareSerial ports
for (byte i = SW_SERIAL0; i < SW_SERIAL3 + 1; i++) {
serialPort = getPortFromId(i);
if (serialPort != NULL) {
free(serialPort);
serialPort = NULL;
}
}
#endif
serialIndex = -1;
for (byte i = 0; i < SERIAL_READ_ARR_LEN; i++) {
serialBytesToRead[i] = 0;
}
}
// get a pointer to the serial port associated with the specified port id
Stream* SerialFirmata::getPortFromId(byte portId)
{
switch (portId) {
case HW_SERIAL0:
// block use of Serial (typically pins 0 and 1) until ability to reclaim Serial is implemented
//return &Serial;
return NULL;
#if defined(PIN_SERIAL1_RX)
case HW_SERIAL1:
return &Serial1;
#endif
#if defined(PIN_SERIAL2_RX)
case HW_SERIAL2:
return &Serial2;
#endif
#if defined(PIN_SERIAL3_RX)
case HW_SERIAL3:
return &Serial3;
#endif
#if defined(PIN_SERIAL4_RX)
case HW_SERIAL4:
return &Serial4;
#endif
#if defined(PIN_SERIAL5_RX)
case HW_SERIAL5:
return &Serial5;
#endif
#if defined(PIN_SERIAL6_RX)
case HW_SERIAL6:
return &Serial6;
#endif
#if defined(SoftwareSerial_h)
case SW_SERIAL0:
if (swSerial0 != NULL) {
// instances of SoftwareSerial are already pointers so simply return the instance
return swSerial0;
}
break;
case SW_SERIAL1:
if (swSerial1 != NULL) {
return swSerial1;
}
break;
case SW_SERIAL2:
if (swSerial2 != NULL) {
return swSerial2;
}
break;
case SW_SERIAL3:
if (swSerial3 != NULL) {
return swSerial3;
}
break;
#endif
}
return NULL;
}
// Check serial ports that have READ_CONTINUOUS mode set and relay any data
// for each port to the device attached to that port.
void SerialFirmata::checkSerial()
{
byte portId, serialData;
int bytesToRead = 0;
int numBytesToRead = 0;
Stream* serialPort;
if (serialIndex > -1) {
// loop through all reporting (READ_CONTINUOUS) serial ports
for (byte i = 0; i < serialIndex + 1; i++) {
portId = reportSerial[i];
bytesToRead = serialBytesToRead[portId];
serialPort = getPortFromId(portId);
if (serialPort == NULL) {
continue;
}
#if defined(SoftwareSerial_h)
// only the SoftwareSerial port that is "listening" can read data
if (portId > 7 && !((SoftwareSerial*)serialPort)->isListening()) {
continue;
}
#endif
if (serialPort->available() > 0) {
Firmata.write(START_SYSEX);
Firmata.write(SERIAL_MESSAGE);
Firmata.write(SERIAL_REPLY | portId);
if (bytesToRead == 0 || (serialPort->available() <= bytesToRead)) {
numBytesToRead = serialPort->available();
} else {
numBytesToRead = bytesToRead;
}
// relay serial data to the serial device
while (numBytesToRead > 0) {
serialData = serialPort->read();
Firmata.write(serialData & 0x7F);
Firmata.write((serialData >> 7) & 0x7F);
numBytesToRead--;
}
Firmata.write(END_SYSEX);
}
}
}
}

208
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/*
SerialFirmata.h
Copyright (C) 2016 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.
This version of SerialFirmata.h differs from the ConfigurableFirmata
version in the following ways:
- Defines FIRMATA_SERIAL_FEATURE (could add to Configurable version as well)
- Imports Firmata.h rather than ConfigurableFirmata.h
Last updated October 16th, 2016
*/
#ifndef SerialFirmata_h
#define SerialFirmata_h
#include <Firmata.h>
#include "FirmataFeature.h"
// SoftwareSerial is currently only supported for AVR-based boards and the Arduino 101.
// Limited to Arduino 1.6.6 or higher because Arduino builder cannot find SoftwareSerial
// prior to this release.
#if (ARDUINO > 10605) && (defined(ARDUINO_ARCH_AVR) || defined(ARDUINO_ARCH_ARC32))
#include <SoftwareSerial.h>
#endif
#define FIRMATA_SERIAL_FEATURE
// Serial port Ids
#define HW_SERIAL0 0x00
#define HW_SERIAL1 0x01
#define HW_SERIAL2 0x02
#define HW_SERIAL3 0x03
#define HW_SERIAL4 0x04
#define HW_SERIAL5 0x05
#define HW_SERIAL6 0x06
// extensible up to 0x07
#define SW_SERIAL0 0x08
#define SW_SERIAL1 0x09
#define SW_SERIAL2 0x0A
#define SW_SERIAL3 0x0B
// extensible up to 0x0F
#define SERIAL_PORT_ID_MASK 0x0F
#define MAX_SERIAL_PORTS 8
#define SERIAL_READ_ARR_LEN 12
// map configuration query response resolution value to serial pin type
#define RES_RX1 0x02
#define RES_TX1 0x03
#define RES_RX2 0x04
#define RES_TX2 0x05
#define RES_RX3 0x06
#define RES_TX3 0x07
#define RES_RX4 0x08
#define RES_TX4 0x09
#define RES_RX5 0x0a
#define RES_TX5 0x0b
#define RES_RX6 0x0c
#define RES_TX6 0x0d
// Serial command bytes
#define SERIAL_CONFIG 0x10
#define SERIAL_WRITE 0x20
#define SERIAL_READ 0x30
#define SERIAL_REPLY 0x40
#define SERIAL_CLOSE 0x50
#define SERIAL_FLUSH 0x60
#define SERIAL_LISTEN 0x70
// Serial read modes
#define SERIAL_READ_CONTINUOUSLY 0x00
#define SERIAL_STOP_READING 0x01
#define SERIAL_MODE_MASK 0xF0
namespace {
struct serial_pins {
uint8_t rx;
uint8_t tx;
};
/*
* Get the serial serial pin type (RX1, TX1, RX2, TX2, etc) for the specified pin.
*/
inline uint8_t getSerialPinType(uint8_t pin) {
#if defined(PIN_SERIAL_RX)
// TODO when use of HW_SERIAL0 is enabled
#endif
#if defined(PIN_SERIAL1_RX)
if (pin == PIN_SERIAL1_RX) return RES_RX1;
if (pin == PIN_SERIAL1_TX) return RES_TX1;
#endif
#if defined(PIN_SERIAL2_RX)
if (pin == PIN_SERIAL2_RX) return RES_RX2;
if (pin == PIN_SERIAL2_TX) return RES_TX2;
#endif
#if defined(PIN_SERIAL3_RX)
if (pin == PIN_SERIAL3_RX) return RES_RX3;
if (pin == PIN_SERIAL3_TX) return RES_TX3;
#endif
#if defined(PIN_SERIAL4_RX)
if (pin == PIN_SERIAL4_RX) return RES_RX4;
if (pin == PIN_SERIAL4_TX) return RES_TX4;
#endif
#if defined(PIN_SERIAL5_RX)
if (pin == PIN_SERIAL5_RX) return RES_RX5;
if (pin == PIN_SERIAL5_TX) return RES_TX5;
#endif
#if defined(PIN_SERIAL6_RX)
if (pin == PIN_SERIAL6_RX) return RES_RX6;
if (pin == PIN_SERIAL6_TX) return RES_TX6;
#endif
return 0;
}
/*
* Get the RX and TX pins numbers for the specified HW serial port.
*/
inline serial_pins getSerialPinNumbers(uint8_t portId) {
serial_pins pins;
switch (portId) {
#if defined(PIN_SERIAL_RX)
// case HW_SERIAL0:
// // TODO when use of HW_SERIAL0 is enabled
// break;
#endif
#if defined(PIN_SERIAL1_RX)
case HW_SERIAL1:
pins.rx = PIN_SERIAL1_RX;
pins.tx = PIN_SERIAL1_TX;
break;
#endif
#if defined(PIN_SERIAL2_RX)
case HW_SERIAL2:
pins.rx = PIN_SERIAL2_RX;
pins.tx = PIN_SERIAL2_TX;
break;
#endif
#if defined(PIN_SERIAL3_RX)
case HW_SERIAL3:
pins.rx = PIN_SERIAL3_RX;
pins.tx = PIN_SERIAL3_TX;
break;
#endif
#if defined(PIN_SERIAL4_RX)
case HW_SERIAL4:
pins.rx = PIN_SERIAL4_RX;
pins.tx = PIN_SERIAL4_TX;
break;
#endif
#if defined(PIN_SERIAL5_RX)
case HW_SERIAL5:
pins.rx = PIN_SERIAL5_RX;
pins.tx = PIN_SERIAL5_TX;
break;
#endif
#if defined(PIN_SERIAL6_RX)
case HW_SERIAL6:
pins.rx = PIN_SERIAL6_RX;
pins.tx = PIN_SERIAL6_TX;
break;
#endif
default:
pins.rx = 0;
pins.tx = 0;
}
return pins;
}
} // end namespace
class SerialFirmata: public FirmataFeature
{
public:
SerialFirmata();
boolean handlePinMode(byte pin, int mode);
void handleCapability(byte pin);
boolean handleSysex(byte command, byte argc, byte* argv);
void update();
void reset();
void checkSerial();
private:
byte reportSerial[MAX_SERIAL_PORTS];
int serialBytesToRead[SERIAL_READ_ARR_LEN];
signed char serialIndex;
#if defined(SoftwareSerial_h)
Stream *swSerial0;
Stream *swSerial1;
Stream *swSerial2;
Stream *swSerial3;
#endif
Stream* getPortFromId(byte portId);
};
#endif /* SerialFirmata_h */

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/*
WiFiClientStream.h
An Arduino Stream that wraps an instance of a WiFiClient. For use
with legacy Arduino WiFi shield and other boards and shields that
are compatible with the Arduino WiFi library.
Copyright (C) 2016 Jens B. 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.
Parts of this class are based on
- EthernetClientStream - Copyright (C) 2013 Norbert Truchsess. All rights reserved.
published under the same license.
Last updated April 23rd, 2016
*/
#ifndef WIFI_CLIENT_STREAM_H
#define WIFI_CLIENT_STREAM_H
#include "WiFiStream.h"
#define MILLIS_RECONNECT 5000
class WiFiClientStream : public WiFiStream
{
protected:
uint32_t _time_connect = 0;
/**
* check if TCP client is connected
* @return true if connected
*/
virtual inline bool connect_client()
{
if ( _connected )
{
if ( _client && _client.connected() ) return true;
stop();
}
// active TCP connect
if ( WiFi.status() == WL_CONNECTED )
{
// if the client is disconnected, try to reconnect every 5 seconds
if ( millis() - _time_connect >= MILLIS_RECONNECT )
{
_connected = _client.connect( _remote_ip, _port );
if ( !_connected )
{
_time_connect = millis();
}
else if ( _currentHostConnectionCallback )
{
(*_currentHostConnectionCallback)(HOST_CONNECTION_CONNECTED);
}
}
}
return _connected;
}
public:
/**
* create a WiFi stream with a TCP client
*/
WiFiClientStream(IPAddress server_ip, uint16_t server_port) : WiFiStream(server_ip, server_port) {}
/**
* maintain WiFi and TCP connection
* @return true if WiFi and TCP connection are established
*/
virtual inline bool maintain()
{
return connect_client();
}
/**
* stop client connection
*/
virtual inline void stop()
{
if ( _client)
{
_client.stop();
if ( _currentHostConnectionCallback )
{
(*_currentHostConnectionCallback)(HOST_CONNECTION_DISCONNECTED);
}
}
_connected = false;
_time_connect = millis();
}
};
#endif //WIFI_CLIENT_STREAM_H

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/*
WiFiServerStream.h
An Arduino Stream extension for a WiFiClient or WiFiServer to be used
with legacy Arduino WiFi shield and other boards and shields that
are compatible with the Arduino WiFi library.
Copyright (C) 2016 Jens B. 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.
Parts of this class are based on
- WiFiStream - Copyright (C) 2015-2016 Jesse Frush. All rights reserved.
published under the same license.
Last updated April 23rd, 2016
*/
#ifndef WIFI_SERVER_STREAM_H
#define WIFI_SERVER_STREAM_H
#include "WiFiStream.h"
class WiFiServerStream : public WiFiStream
{
protected:
WiFiServer _server = WiFiServer(3030);
bool _listening = false;
/**
* check if TCP client is connected
* @return true if connected
*/
virtual inline bool connect_client()
{
if ( _connected )
{
if ( _client && _client.connected() ) return true;
stop();
}
// passive TCP connect (accept)
WiFiClient newClient = _server.available();
if ( !newClient ) return false;
_client = newClient;
_connected = true;
if ( _currentHostConnectionCallback )
{
(*_currentHostConnectionCallback)(HOST_CONNECTION_CONNECTED);
}
return true;
}
public:
/**
* create a WiFi stream with a TCP server
*/
WiFiServerStream(uint16_t server_port) : WiFiStream(server_port) {}
/**
* maintain WiFi and TCP connection
* @return true if WiFi and TCP connection are established
*/
virtual inline bool maintain()
{
if ( connect_client() ) return true;
stop();
if ( !_listening && WiFi.status() == WL_CONNECTED )
{
// start TCP server after first WiFi connect
_server = WiFiServer(_port);
_server.begin();
_listening = true;
}
return false;
}
/**
* stop client connection
*/
virtual inline void stop()
{
if ( _client)
{
_client.stop();
if ( _currentHostConnectionCallback )
{
(*_currentHostConnectionCallback)(HOST_CONNECTION_DISCONNECTED);
}
}
_connected = false;
}
};
#endif //WIFI_SERVER_STREAM_H

4
arduino/libraries/Firmata/utility/WiFiStream.cpp Normal file
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/*
* Implementation is in WiFiStream.h to avoid linker issues. Legacy WiFi and modern WiFi101 both define WiFiClass which
* will cause linker errors whenever Firmata.h is included.
*/

226
arduino/libraries/Firmata/utility/WiFiStream.h Normal file
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/*
WiFiStream.h
An Arduino Stream extension for a WiFiClient or WiFiServer to be used
with legacy Arduino WiFi shield and other boards and shields that
are compatible with the Arduino WiFi library.
Copyright (C) 2015-2016 Jesse Frush. All rights reserved.
Copyright (C) 2016 Jens B. 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.
Last updated April 23rd, 2016
*/
#ifndef WIFI_STREAM_H
#define WIFI_STREAM_H
#include <inttypes.h>
#include <Stream.h>
#define HOST_CONNECTION_DISCONNECTED 0
#define HOST_CONNECTION_CONNECTED 1
extern "C" {
// callback function types
typedef void (*hostConnectionCallbackFunction)(byte);
}
class WiFiStream : public Stream
{
protected:
WiFiClient _client;
bool _connected = false;
hostConnectionCallbackFunction _currentHostConnectionCallback;
//configuration members
IPAddress _local_ip; // DHCP
IPAddress _subnet;
IPAddress _gateway;
IPAddress _remote_ip;
uint16_t _port;
uint8_t _key_idx; //WEP
const char *_key = nullptr; //WEP
const char *_passphrase = nullptr; //WPA
char *_ssid = nullptr;
/**
* check if TCP client is connected
* @return true if connected
*/
virtual bool connect_client() = 0;
public:
/** constructor for TCP server */
WiFiStream(uint16_t server_port) : _port(server_port) {}
/** constructor for TCP client */
WiFiStream(IPAddress server_ip, uint16_t server_port) : _remote_ip(server_ip), _port(server_port) {}
inline void attach( hostConnectionCallbackFunction newFunction ) { _currentHostConnectionCallback = newFunction; }
/******************************************************************************
* network configuration
******************************************************************************/
#ifndef ESP8266
/**
* configure a static local IP address without defining the local network
* DHCP will be used as long as local IP address is not defined
*/
inline void config(IPAddress local_ip)
{
_local_ip = local_ip;
WiFi.config( local_ip );
}
#endif
/**
* configure a static local IP address
* DHCP will be used as long as local IP address is not defined
*/
inline void config(IPAddress local_ip, IPAddress gateway, IPAddress subnet)
{
_local_ip = local_ip;
_subnet = subnet;
_gateway = gateway;
#ifndef ESP8266
WiFi.config( local_ip, IPAddress(0, 0, 0, 0), gateway, subnet );
#else
WiFi.config( local_ip, gateway, subnet );
#endif
}
/**
* @return local IP address
*/
inline IPAddress getLocalIP()
{
return WiFi.localIP();
}
/******************************************************************************
* network functions
******************************************************************************/
/**
* maintain WiFi and TCP connection
* @return true if WiFi and TCP connection are established
*/
virtual bool maintain() = 0;
#ifdef ESP8266
/**
* get status of TCP connection
* @return status of TCP connection
* CLOSED = 0 (typical)
* LISTEN = 1 (not used)
* SYN_SENT = 2
* SYN_RCVD = 3
* ESTABLISHED = 4 (typical)
* FIN_WAIT_1 = 5
* FIN_WAIT_2 = 6
* CLOSE_WAIT = 7
* CLOSING = 8
* LAST_ACK = 9
* TIME_WAIT = 10
*/
inline uint8_t status()
{
return _client.status();
}
#endif
/**
* close TCP client connection
*/
virtual void stop() = 0;
/******************************************************************************
* WiFi configuration
******************************************************************************/
/**
* initialize WiFi without security (open) and initiate client connection
* if WiFi connection is already established
* @return WL_CONNECTED if WiFi connection is established
*/
inline int begin(char *ssid)
{
_ssid = ssid;
WiFi.begin(ssid);
int result = WiFi.status();
return WiFi.status();
}
#ifndef ESP8266
/**
* initialize WiFi with WEP security and initiate client connection
* if WiFi connection is already established
* @return WL_CONNECTED if WiFi connection is established
*/
inline int begin(char *ssid, uint8_t key_idx, const char *key)
{
_ssid = ssid;
_key_idx = key_idx;
_key = key;
WiFi.begin( ssid, key_idx, key );
return WiFi.status();
}
#endif
/**
* initialize WiFi with WPA-PSK security and initiate client connection
* if WiFi connection is already established
* @return WL_CONNECTED if WiFi connection is established
*/
inline int begin(char *ssid, const char *passphrase)
{
_ssid = ssid;
_passphrase = passphrase;
WiFi.begin(ssid, passphrase);
return WiFi.status();
}
/******************************************************************************
* stream functions
******************************************************************************/
inline int available()
{
return connect_client() ? _client.available() : 0;
}
inline void flush()
{
if( _client ) _client.flush();
}
inline int peek()
{
return connect_client() ? _client.peek(): 0;
}
inline int read()
{
return connect_client() ? _client.read() : -1;
}
inline size_t write(uint8_t byte)
{
return connect_client() ? _client.write( byte ) : 0;
}
};
#endif //WIFI_STREAM_H

14
arduino/libraries/Firmata/utility/firmataDebug.h Normal file
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#ifndef FIRMATA_DEBUG_H
#define FIRMATA_DEBUG_H
#ifdef SERIAL_DEBUG
#define DEBUG_BEGIN(baud) Serial.begin(baud); while(!Serial) {;}
#define DEBUG_PRINTLN(x) Serial.println (x); Serial.flush()
#define DEBUG_PRINT(x) Serial.print (x)
#else
#define DEBUG_BEGIN(baud)
#define DEBUG_PRINTLN(x)
#define DEBUG_PRINT(x)
#endif
#endif /* FIRMATA_DEBUG_H */