├── .github ├── ISSUE_TEMPLATE.md └── PULL_REQUEST_TEMPLATE.md ├── .gitignore ├── Adafruit_BLE_Firmata.cpp ├── Adafruit_BLE_Firmata.h ├── Adafruit_BLE_Firmata_Boards.h ├── LICENSE.txt ├── README.md ├── examples ├── BluefruitLE_nrf51822 │ ├── BluefruitConfig.h │ └── BluefruitLE_nrf51822.ino ├── CircuitPlayground_nrf51822 │ ├── BluefruitConfig.h │ └── CircuitPlayground_nrf51822.ino ├── Firmata_nRF8001 │ ├── BluefruitConfig.h │ └── Firmata_nRF8001.ino └── StandardFirmata │ ├── LICENSE.txt │ ├── Makefile │ └── StandardFirmata.ino ├── keywords.txt └── library.properties /.github/ISSUE_TEMPLATE.md: -------------------------------------------------------------------------------- 1 | Thank you for opening an issue on an Adafruit Arduino library repository. To 2 | improve the speed of resolution please review the following guidelines and 3 | common troubleshooting steps below before creating the issue: 4 | 5 | - **Do not use GitHub issues for troubleshooting projects and issues.** Instead use 6 | the forums at http://forums.adafruit.com to ask questions and troubleshoot why 7 | something isn't working as expected. In many cases the problem is a common issue 8 | that you will more quickly receive help from the forum community. GitHub issues 9 | are meant for known defects in the code. If you don't know if there is a defect 10 | in the code then start with troubleshooting on the forum first. 11 | 12 | - **If following a tutorial or guide be sure you didn't miss a step.** Carefully 13 | check all of the steps and commands to run have been followed. Consult the 14 | forum if you're unsure or have questions about steps in a guide/tutorial. 15 | 16 | - **For Arduino projects check these very common issues to ensure they don't apply**: 17 | 18 | - For uploading sketches or communicating with the board make sure you're using 19 | a **USB data cable** and **not** a **USB charge-only cable**. It is sometimes 20 | very hard to tell the difference between a data and charge cable! Try using the 21 | cable with other devices or swapping to another cable to confirm it is not 22 | the problem. 23 | 24 | - **Be sure you are supplying adequate power to the board.** Check the specs of 25 | your board and plug in an external power supply. In many cases just 26 | plugging a board into your computer is not enough to power it and other 27 | peripherals. 28 | 29 | - **Double check all soldering joints and connections.** Flakey connections 30 | cause many mysterious problems. See the [guide to excellent soldering](https://learn.adafruit.com/adafruit-guide-excellent-soldering/tools) for examples of good solder joints. 31 | 32 | - **Ensure you are using an official Arduino or Adafruit board.** We can't 33 | guarantee a clone board will have the same functionality and work as expected 34 | with this code and don't support them. 35 | 36 | If you're sure this issue is a defect in the code and checked the steps above 37 | please fill in the following fields to provide enough troubleshooting information. 38 | You may delete the guideline and text above to just leave the following details: 39 | 40 | - Arduino board: **INSERT ARDUINO BOARD NAME/TYPE HERE** 41 | 42 | - Arduino IDE version (found in Arduino -> About Arduino menu): **INSERT ARDUINO 43 | VERSION HERE** 44 | 45 | - List the steps to reproduce the problem below (if possible attach a sketch or 46 | copy the sketch code in too): **LIST REPRO STEPS BELOW** 47 | -------------------------------------------------------------------------------- /.github/PULL_REQUEST_TEMPLATE.md: -------------------------------------------------------------------------------- 1 | Thank you for creating a pull request to contribute to Adafruit's GitHub code! 2 | Before you open the request please review the following guidelines and tips to 3 | help it be more easily integrated: 4 | 5 | - **Describe the scope of your change--i.e. what the change does and what parts 6 | of the code were modified.** This will help us understand any risks of integrating 7 | the code. 8 | 9 | - **Describe any known limitations with your change.** For example if the change 10 | doesn't apply to a supported platform of the library please mention it. 11 | 12 | - **Please run any tests or examples that can exercise your modified code.** We 13 | strive to not break users of the code and running tests/examples helps with this 14 | process. 15 | 16 | Thank you again for contributing! We will try to test and integrate the change 17 | as soon as we can, but be aware we have many GitHub repositories to manage and 18 | can't immediately respond to every request. There is no need to bump or check in 19 | on a pull request (it will clutter the discussion of the request). 20 | 21 | Also don't be worried if the request is closed or not integrated--sometimes the 22 | priorities of Adafruit's GitHub code (education, ease of use) might not match the 23 | priorities of the pull request. Don't fret, the open source community thrives on 24 | forks and GitHub makes it easy to keep your changes in a forked repo. 25 | 26 | After reviewing the guidelines above you can delete this text from the pull request. 27 | -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- 1 | .DS_Store 2 | release.sh 3 | -------------------------------------------------------------------------------- /Adafruit_BLE_Firmata.cpp: -------------------------------------------------------------------------------- 1 | /* 2 | Firmata.cpp - Firmata library 3 | Copyright (C) 2006-2008 Hans-Christoph Steiner. All rights reserved. 4 | 5 | Modified for Adafruit_BLE_Uart by Limor Fried/Kevin Townsend for 6 | Adafruit Industries, 2014 7 | 8 | This library is free software; you can redistribute it and/or 9 | modify it under the terms of the GNU Lesser General Public 10 | License as published by the Free Software Foundation; either 11 | version 2.1 of the License, or (at your option) any later version. 12 | 13 | See file LICENSE.txt for further informations on licensing terms. 14 | */ 15 | 16 | //****************************************************************************** 17 | //* Includes 18 | //****************************************************************************** 19 | 20 | #include "Adafruit_BLE_Firmata.h" 21 | 22 | extern "C" { 23 | #include 24 | #include 25 | } 26 | 27 | //****************************************************************************** 28 | //* Support Functions 29 | //****************************************************************************** 30 | 31 | void Adafruit_BLE_FirmataClass::sendValueAsTwo7bitBytes(int value) 32 | { 33 | FirmataSerial.write(value & B01111111); // LSB 34 | FirmataSerial.write(value >> 7 & B01111111); // MSB 35 | } 36 | 37 | void Adafruit_BLE_FirmataClass::startSysex(void) 38 | { 39 | FirmataSerial.write(START_SYSEX); 40 | } 41 | 42 | void Adafruit_BLE_FirmataClass::endSysex(void) 43 | { 44 | FirmataSerial.write(END_SYSEX); 45 | } 46 | 47 | //****************************************************************************** 48 | //* Constructors 49 | //****************************************************************************** 50 | 51 | Adafruit_BLE_FirmataClass::Adafruit_BLE_FirmataClass(Stream &s) : FirmataSerial(s) 52 | { 53 | firmwareVersionCount = 0; 54 | systemReset(); 55 | } 56 | 57 | //****************************************************************************** 58 | //* Public Methods 59 | //****************************************************************************** 60 | 61 | /* begin method for overriding default serial bitrate */ 62 | void Adafruit_BLE_FirmataClass::begin(void) 63 | { 64 | printVersion(); 65 | printFirmwareVersion(); 66 | } 67 | 68 | void Adafruit_BLE_FirmataClass::begin(Stream &s) 69 | { 70 | FirmataSerial = s; 71 | systemReset(); 72 | printVersion(); 73 | printFirmwareVersion(); 74 | } 75 | 76 | // output the protocol version message to the serial port 77 | void Adafruit_BLE_FirmataClass::printVersion(void) { 78 | FirmataSerial.write(REPORT_VERSION); 79 | FirmataSerial.write(FIRMATA_MAJOR_VERSION); 80 | FirmataSerial.write(FIRMATA_MINOR_VERSION); 81 | } 82 | 83 | void Adafruit_BLE_FirmataClass::printFirmwareVersion(void) 84 | { 85 | byte i; 86 | 87 | if(firmwareVersionCount) { // make sure that the name has been set before reporting 88 | startSysex(); 89 | FirmataSerial.write(REPORT_FIRMWARE); 90 | FirmataSerial.write(firmwareVersionVector[0]); // major version number 91 | FirmataSerial.write(firmwareVersionVector[1]); // minor version number 92 | for(i=2; i 0) && (inputData < 128) ) { 182 | waitForData--; 183 | storedInputData[waitForData] = inputData; 184 | #ifdef BLE_DEBUG 185 | Serial.print(F(" 0x")); Serial.print(inputData, HEX); 186 | #endif 187 | 188 | if( (waitForData==0) && executeMultiByteCommand ) { // got the whole message 189 | 190 | #ifdef BLE_DEBUG 191 | Serial.println(); 192 | #endif 193 | 194 | 195 | switch(executeMultiByteCommand) { 196 | case ANALOG_MESSAGE: 197 | if(currentAnalogCallback) { 198 | (*currentAnalogCallback)(multiByteChannel, 199 | (storedInputData[0] << 7) 200 | + storedInputData[1]); 201 | } 202 | break; 203 | case DIGITAL_MESSAGE: 204 | if(currentDigitalCallback) { 205 | (*currentDigitalCallback)(multiByteChannel, 206 | (storedInputData[0] << 7) 207 | + storedInputData[1]); 208 | } 209 | break; 210 | case SET_PIN_MODE: 211 | if(currentPinModeCallback) 212 | (*currentPinModeCallback)(storedInputData[1], storedInputData[0]); 213 | break; 214 | case REPORT_ANALOG: 215 | if(currentReportAnalogCallback) 216 | (*currentReportAnalogCallback)(multiByteChannel,storedInputData[0]); 217 | break; 218 | case REPORT_DIGITAL: 219 | if(currentReportDigitalCallback) 220 | (*currentReportDigitalCallback)(multiByteChannel,storedInputData[0]); 221 | break; 222 | } 223 | executeMultiByteCommand = 0; 224 | } 225 | } else { 226 | #ifdef BLE_DEBUG 227 | Serial.print(F("\tReceived 0x")); Serial.print(inputData, HEX); 228 | #endif 229 | // remove channel info from command byte if less than 0xF0 230 | if(inputData < 0xF0) { 231 | command = inputData & 0xF0; 232 | multiByteChannel = inputData & 0x0F; 233 | } else { 234 | command = inputData; 235 | // commands in the 0xF* range don't use channel data 236 | } 237 | switch (command) { 238 | case ANALOG_MESSAGE: 239 | case DIGITAL_MESSAGE: 240 | case SET_PIN_MODE: 241 | waitForData = 2; // two data bytes needed 242 | executeMultiByteCommand = command; 243 | break; 244 | case REPORT_ANALOG: 245 | case REPORT_DIGITAL: 246 | waitForData = 1; // two data bytes needed 247 | executeMultiByteCommand = command; 248 | break; 249 | case START_SYSEX: 250 | parsingSysex = true; 251 | sysexBytesRead = 0; 252 | break; 253 | case SYSTEM_RESET: 254 | systemReset(); 255 | break; 256 | case REPORT_VERSION: 257 | printVersion(); 258 | break; 259 | } 260 | } 261 | 262 | return inputData; 263 | } 264 | 265 | //------------------------------------------------------------------------------ 266 | // Serial Send Handling 267 | 268 | // send an analog message 269 | void Adafruit_BLE_FirmataClass::sendAnalog(byte pin, int value) 270 | { 271 | // create a three byte buffer 272 | uint8_t sendbuffer[3]; 273 | 274 | // pin can only be 0-15, so chop higher bits 275 | //FirmataSerial.write(ANALOG_MESSAGE | (pin & 0xF)); 276 | sendbuffer[0] = ANALOG_MESSAGE | (pin & 0xF); 277 | 278 | //sendValueAsTwo7bitBytes(value); 279 | sendbuffer[1] = value % 128; // Tx bits 0-6 280 | sendbuffer[2] = (value >> 7) &0x7F; // Tx bits 7-13 281 | 282 | FirmataSerial.write(sendbuffer, 3); 283 | } 284 | 285 | // send a single digital pin in a digital message 286 | void Adafruit_BLE_FirmataClass::sendDigital(byte pin, int value) 287 | { 288 | /* TODO add single pin digital messages to the protocol, this needs to 289 | * track the last digital data sent so that it can be sure to change just 290 | * one bit in the packet. This is complicated by the fact that the 291 | * numbering of the pins will probably differ on Arduino, Wiring, and 292 | * other boards. The DIGITAL_MESSAGE sends 14 bits at a time, but it is 293 | * probably easier to send 8 bit ports for any board with more than 14 294 | * digital pins. 295 | */ 296 | 297 | // TODO: the digital message should not be sent on the serial port every 298 | // time sendDigital() is called. Instead, it should add it to an int 299 | // which will be sent on a schedule. If a pin changes more than once 300 | // before the digital message is sent on the serial port, it should send a 301 | // digital message for each change. 302 | 303 | // if(value == 0) 304 | // sendDigitalPortPair(); 305 | } 306 | 307 | 308 | // send 14-bits in a single digital message (protocol v1) 309 | // send an 8-bit port in a single digital message (protocol v2) 310 | void Adafruit_BLE_FirmataClass::sendDigitalPort(byte portNumber, int portData) 311 | { 312 | // create a three byte buffer 313 | uint8_t sendbuffer[3]; 314 | 315 | sendbuffer[0] = DIGITAL_MESSAGE | (portNumber & 0xF); 316 | sendbuffer[1] = (byte)portData % 128; // Tx bits 0-6 317 | sendbuffer[2] = portData >> 7; // Tx bits 7-13 318 | FirmataSerial.write(sendbuffer, 3); 319 | } 320 | 321 | 322 | void Adafruit_BLE_FirmataClass::sendSysex(byte command, byte bytec, byte* bytev) 323 | { 324 | byte i; 325 | startSysex(); 326 | FirmataSerial.write(command); 327 | for(i=0; i 21 | 22 | //#include "Boards.h" /* Hardware Abstraction Layer + Wiring/Arduino */ 23 | 24 | //#define BLE_DEBUG 25 | 26 | // move the following defines to Firmata.h? 27 | #define I2C_WRITE B00000000 28 | #define I2C_READ B00001000 29 | #define I2C_READ_CONTINUOUSLY B00010000 30 | #define I2C_STOP_READING B00011000 31 | #define I2C_READ_WRITE_MODE_MASK B00011000 32 | #define I2C_10BIT_ADDRESS_MODE_MASK B00100000 33 | 34 | #define MAX_QUERIES 8 35 | #define MINIMUM_SAMPLING_INTERVAL 10 36 | 37 | #define REGISTER_NOT_SPECIFIED -1 38 | 39 | /* Version numbers for the protocol. The protocol is still changing, so these 40 | * version numbers are important. This number can be queried so that host 41 | * software can test whether it will be compatible with the currently 42 | * installed firmware. */ 43 | #define FIRMATA_MAJOR_VERSION 2 // for non-compatible changes 44 | #define FIRMATA_MINOR_VERSION 3 // for backwards compatible changes 45 | #define FIRMATA_BUGFIX_VERSION 1 // for bugfix releases 46 | 47 | #define MAX_DATA_BYTES 32 // max number of data bytes in non-Sysex messages 48 | 49 | // message command bytes (128-255/0x80-0xFF) 50 | #define DIGITAL_MESSAGE 0x90 // send data for a digital pin 51 | #define ANALOG_MESSAGE 0xE0 // send data for an analog pin (or PWM) 52 | #define REPORT_ANALOG 0xC0 // enable analog input by pin # 53 | #define REPORT_DIGITAL 0xD0 // enable digital input by port pair 54 | // 55 | #define SET_PIN_MODE 0xF4 // set a pin to INPUT/OUTPUT/PWM/etc 56 | // 57 | #define REPORT_VERSION 0xF9 // report protocol version 58 | #define SYSTEM_RESET 0xFF // reset from MIDI 59 | // 60 | #define START_SYSEX 0xF0 // start a MIDI Sysex message 61 | #define END_SYSEX 0xF7 // end a MIDI Sysex message 62 | 63 | // extended command set using sysex (0-127/0x00-0x7F) 64 | /* 0x00-0x0F reserved for user-defined commands */ 65 | #define SERVO_CONFIG 0x70 // set max angle, minPulse, maxPulse, freq 66 | #define STRING_DATA 0x71 // a string message with 14-bits per char 67 | #define SHIFT_DATA 0x75 // a bitstream to/from a shift register 68 | #define I2C_REQUEST 0x76 // send an I2C read/write request 69 | #define I2C_REPLY 0x77 // a reply to an I2C read request 70 | #define I2C_CONFIG 0x78 // config I2C settings such as delay times and power pins 71 | #define EXTENDED_ANALOG 0x6F // analog write (PWM, Servo, etc) to any pin 72 | #define PIN_STATE_QUERY 0x6D // ask for a pin's current mode and value 73 | #define PIN_STATE_RESPONSE 0x6E // reply with pin's current mode and value 74 | #define CAPABILITY_QUERY 0x6B // ask for supported modes and resolution of all pins 75 | #define CAPABILITY_RESPONSE 0x6C // reply with supported modes and resolution 76 | #define ANALOG_MAPPING_QUERY 0x69 // ask for mapping of analog to pin numbers 77 | #define ANALOG_MAPPING_RESPONSE 0x6A // reply with mapping info 78 | #define REPORT_FIRMWARE 0x79 // report name and version of the firmware 79 | #define SAMPLING_INTERVAL 0x7A // set the poll rate of the main loop 80 | #define SYSEX_NON_REALTIME 0x7E // MIDI Reserved for non-realtime messages 81 | #define SYSEX_REALTIME 0x7F // MIDI Reserved for realtime messages 82 | // these are DEPRECATED to make the naming more consistent 83 | #define FIRMATA_STRING 0x71 // same as STRING_DATA 84 | #define SYSEX_I2C_REQUEST 0x76 // same as I2C_REQUEST 85 | #define SYSEX_I2C_REPLY 0x77 // same as I2C_REPLY 86 | #define SYSEX_SAMPLING_INTERVAL 0x7A // same as SAMPLING_INTERVAL 87 | 88 | // pin modes 89 | //#define INPUT 0x00 // defined in wiring.h 90 | //#define OUTPUT 0x01 // defined in wiring.h 91 | #define ANALOG 0x02 // analog pin in analogInput mode 92 | #define PWM 0x03 // digital pin in PWM output mode 93 | #define SERVO 0x04 // digital pin in Servo output mode 94 | #define SHIFT 0x05 // shiftIn/shiftOut mode 95 | #define I2C 0x06 // pin included in I2C setup 96 | #define TOTAL_PIN_MODES 7 97 | 98 | extern "C" { 99 | // callback function types 100 | typedef void (*callbackFunction)(byte, int); 101 | typedef void (*systemResetCallbackFunction)(void); 102 | typedef void (*stringCallbackFunction)(char*); 103 | typedef void (*sysexCallbackFunction)(byte command, byte argc, byte*argv); 104 | } 105 | 106 | 107 | // TODO make it a subclass of a generic Serial/Stream base class 108 | class Adafruit_BLE_FirmataClass 109 | { 110 | public: 111 | Adafruit_BLE_FirmataClass(Stream &s); 112 | 113 | /* Arduino constructors */ 114 | void begin(); 115 | void begin(Stream &s); 116 | /* querying functions */ 117 | void printVersion(void); 118 | void blinkVersion(void); 119 | void printFirmwareVersion(void); 120 | //void setFirmwareVersion(byte major, byte minor); // see macro below 121 | void setFirmwareNameAndVersion(const char *name, byte major, byte minor); 122 | /* serial receive handling */ 123 | int available(void); 124 | int processInput(void); 125 | /* serial send handling */ 126 | void sendAnalog(byte pin, int value); 127 | void sendDigital(byte pin, int value); // TODO implement this 128 | void sendDigitalPort(byte portNumber, int portData); 129 | void sendString(const char* string); 130 | void sendString(byte command, const char* string); 131 | void sendSysex(byte command, byte bytec, byte* bytev); 132 | /* attach & detach callback functions to messages */ 133 | void attach(byte command, callbackFunction newFunction); 134 | void attach(byte command, systemResetCallbackFunction newFunction); 135 | void attach(byte command, stringCallbackFunction newFunction); 136 | void attach(byte command, sysexCallbackFunction newFunction); 137 | void detach(byte command); 138 | 139 | 140 | /* board details */ 141 | void setUsablePins(uint8_t *digitaliopins, uint8_t num_digitaliopins, 142 | uint8_t *analogiopins, uint8_t num_analogiopins, 143 | uint8_t *pwmpins, uint8_t num_pwmpins, 144 | uint8_t *servopins, uint8_t num_servopins, 145 | uint8_t sdapin, uint8_t sclpin); 146 | 147 | boolean IS_PIN_DIGITAL(uint8_t p) { return contains(_digitaliopins,_num_digitaliopins, p); } 148 | uint8_t PIN_TO_DIGITAL(uint8_t p) { return p; } 149 | boolean IS_PIN_ANALOG(uint8_t p) { return contains(_analogiopins, _num_analogiopins, p); } 150 | uint8_t PIN_TO_ANALOG(uint8_t p); 151 | boolean IS_PIN_PWM(uint8_t p) { return contains(_pwmpins, _num_pwmpins, p); } 152 | uint8_t PIN_TO_PWM(uint8_t p) { return p; } 153 | boolean IS_PIN_SERVO(uint8_t p) { return contains(_servopins, _num_servopins, p); } 154 | uint8_t PIN_TO_SERVO(uint8_t p) { return p-2;} 155 | boolean IS_PIN_I2C(uint8_t p) { return (p == _sdapin) || (p == _sclpin); } 156 | 157 | unsigned char readPort(byte port, byte bitmask); 158 | unsigned char writePort(byte port, byte value, byte bitmask); 159 | 160 | 161 | uint8_t _num_analogiopins; 162 | 163 | private: 164 | Stream &FirmataSerial; 165 | 166 | uint8_t *_digitaliopins, _num_digitaliopins; 167 | uint8_t *_pwmpins, _num_pwmpins; 168 | uint8_t *_analogiopins; 169 | uint8_t *_servopins, _num_servopins; 170 | uint8_t _sdapin, _sclpin; 171 | 172 | boolean contains(uint8_t *set, uint8_t num, uint8_t test); 173 | uint8_t location(uint8_t *set, uint8_t num, uint8_t test); 174 | 175 | /* firmware name and version */ 176 | byte firmwareVersionCount; 177 | byte *firmwareVersionVector; 178 | /* input message handling */ 179 | byte waitForData; // this flag says the next serial input will be data 180 | byte executeMultiByteCommand; // execute this after getting multi-byte data 181 | byte multiByteChannel; // channel data for multiByteCommands 182 | byte storedInputData[MAX_DATA_BYTES]; // multi-byte data 183 | /* sysex */ 184 | boolean parsingSysex; 185 | int sysexBytesRead; 186 | /* callback functions */ 187 | callbackFunction currentAnalogCallback; 188 | callbackFunction currentDigitalCallback; 189 | callbackFunction currentReportAnalogCallback; 190 | callbackFunction currentReportDigitalCallback; 191 | callbackFunction currentPinModeCallback; 192 | systemResetCallbackFunction currentSystemResetCallback; 193 | stringCallbackFunction currentStringCallback; 194 | sysexCallbackFunction currentSysexCallback; 195 | 196 | /* private methods ------------------------------ */ 197 | void processSysexMessage(void); 198 | void systemReset(void); 199 | void pin13strobe(int count, int onInterval, int offInterval); 200 | void sendValueAsTwo7bitBytes(int value); 201 | void startSysex(void); 202 | void endSysex(void); 203 | 204 | }; 205 | 206 | extern Adafruit_BLE_FirmataClass BLE_Firmata; 207 | 208 | /*============================================================================== 209 | * MACROS 210 | *============================================================================*/ 211 | 212 | /* shortcut for setFirmwareNameAndVersion() that uses __FILE__ to set the 213 | * firmware name. It needs to be a macro so that __FILE__ is included in the 214 | * firmware source file rather than the library source file. 215 | */ 216 | #define setFirmwareVersion(x, y) setFirmwareNameAndVersion(__FILE__, x, y) 217 | 218 | #endif /* BLE_Firmata_h */ 219 | 220 | -------------------------------------------------------------------------------- /Adafruit_BLE_Firmata_Boards.h: -------------------------------------------------------------------------------- 1 | /* Boards.h - Hardware Abstraction Layer for Firmata library */ 2 | 3 | #ifndef BLE_Firmata_Boards_h 4 | #define BLE_Firmata_Boards_h 5 | 6 | #include 7 | 8 | #if defined(ARDUINO) && ARDUINO >= 100 9 | #include "Arduino.h" // for digitalRead, digitalWrite, etc 10 | #else 11 | #include "WProgram.h" 12 | #endif 13 | 14 | // Normally Servo.h must be included before Firmata.h (which then includes 15 | // this file). If Servo.h wasn't included, this allows the code to still 16 | // compile, but without support for any Servos. Hopefully that's what the 17 | // user intended by not including Servo.h 18 | #ifndef MAX_SERVOS 19 | #define MAX_SERVOS 0 20 | #endif 21 | 22 | /* 23 | Firmata Hardware Abstraction Layer 24 | 25 | Firmata is built on top of the hardware abstraction functions of Arduino, 26 | specifically digitalWrite, digitalRead, analogWrite, analogRead, and 27 | pinMode. While these functions offer simple integer pin numbers, Firmata 28 | needs more information than is provided by Arduino. This file provides 29 | all other hardware specific details. To make Firmata support a new board, 30 | only this file should require editing. 31 | 32 | The key concept is every "pin" implemented by Firmata may be mapped to 33 | any pin as implemented by Arduino. Usually a simple 1-to-1 mapping is 34 | best, but such mapping should not be assumed. This hardware abstraction 35 | layer allows Firmata to implement any number of pins which map onto the 36 | Arduino implemented pins in almost any arbitrary way. 37 | 38 | 39 | General Constants: 40 | 41 | These constants provide basic information Firmata requires. 42 | 43 | TOTAL_PINS: The total number of pins Firmata implemented by Firmata. 44 | Usually this will match the number of pins the Arduino functions 45 | implement, including any pins pins capable of analog or digital. 46 | However, Firmata may implement any number of pins. For example, 47 | on Arduino Mini with 8 analog inputs, 6 of these may be used 48 | for digital functions, and 2 are analog only. On such boards, 49 | Firmata can implement more pins than Arduino's pinMode() 50 | function, in order to accommodate those special pins. The 51 | Firmata protocol supports a maximum of 128 pins, so this 52 | constant must not exceed 128. 53 | 54 | TOTAL_ANALOG_PINS: The total number of analog input pins implemented. 55 | The Firmata protocol allows up to 16 analog inputs, accessed 56 | using offsets 0 to 15. Because Firmata presents the analog 57 | inputs using different offsets than the actual pin numbers 58 | (a legacy of Arduino's analogRead function, and the way the 59 | analog input capable pins are physically labeled on all 60 | Arduino boards), the total number of analog input signals 61 | must be specified. 16 is the maximum. 62 | 63 | VERSION_BLINK_PIN: When Firmata starts up, it will blink the version 64 | number. This constant is the Arduino pin number where a 65 | LED is connected. 66 | 67 | 68 | Pin Mapping Macros: 69 | 70 | These macros provide the mapping between pins as implemented by 71 | Firmata protocol and the actual pin numbers used by the Arduino 72 | functions. Even though such mappings are often simple, pin 73 | numbers received by Firmata protocol should always be used as 74 | input to these macros, and the result of the macro should be 75 | used with with any Arduino function. 76 | 77 | When Firmata is extended to support a new pin mode or feature, 78 | a pair of macros should be added and used for all hardware 79 | access. For simple 1:1 mapping, these macros add no actual 80 | overhead, yet their consistent use allows source code which 81 | uses them consistently to be easily adapted to all other boards 82 | with different requirements. 83 | 84 | IS_PIN_XXXX(pin): The IS_PIN macros resolve to true or non-zero 85 | if a pin as implemented by Firmata corresponds to a pin 86 | that actually implements the named feature. 87 | 88 | PIN_TO_XXXX(pin): The PIN_TO macros translate pin numbers as 89 | implemented by Firmata to the pin numbers needed as inputs 90 | to the Arduino functions. The corresponding IS_PIN macro 91 | should always be tested before using a PIN_TO macro, so 92 | these macros only need to handle valid Firmata pin 93 | numbers for the named feature. 94 | 95 | 96 | Port Access Inline Funtions: 97 | 98 | For efficiency, Firmata protocol provides access to digital 99 | input and output pins grouped by 8 bit ports. When these 100 | groups of 8 correspond to actual 8 bit ports as implemented 101 | by the hardware, these inline functions can provide high 102 | speed direct port access. Otherwise, a default implementation 103 | using 8 calls to digitalWrite or digitalRead is used. 104 | 105 | When porting Firmata to a new board, it is recommended to 106 | use the default functions first and focus only on the constants 107 | and macros above. When those are working, if optimized port 108 | access is desired, these inline functions may be extended. 109 | The recommended approach defines a symbol indicating which 110 | optimization to use, and then conditional complication is 111 | used within these functions. 112 | 113 | readPort(port, bitmask): Read an 8 bit port, returning the value. 114 | port: The port number, Firmata pins port*8 to port*8+7 115 | bitmask: The actual pins to read, indicated by 1 bits. 116 | 117 | writePort(port, value, bitmask): Write an 8 bit port. 118 | port: The port number, Firmata pins port*8 to port*8+7 119 | value: The 8 bit value to write 120 | bitmask: The actual pins to write, indicated by 1 bits. 121 | */ 122 | 123 | /*============================================================================== 124 | * Board Specific Configuration 125 | *============================================================================*/ 126 | 127 | 128 | #define VERSION_BLINK_PIN 99 129 | #define ARDUINO_PINOUT_OPTIMIZE 0 130 | 131 | 132 | 133 | 134 | #endif /* BLE_Firmata_Boards_h */ 135 | 136 | -------------------------------------------------------------------------------- /LICENSE.txt: -------------------------------------------------------------------------------- 1 | 2 | GNU LESSER GENERAL PUBLIC LICENSE 3 | Version 2.1, February 1999 4 | 5 | Copyright (C) 1991, 1999 Free Software Foundation, Inc. 6 | 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA 7 | Everyone is permitted to copy and distribute verbatim copies 8 | of this license document, but changing it is not allowed. 9 | 10 | [This is the first released version of the Lesser GPL. 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IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN 449 | WRITING WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MAY MODIFY 450 | AND/OR REDISTRIBUTE THE LIBRARY AS PERMITTED ABOVE, BE LIABLE TO YOU 451 | FOR DAMAGES, INCLUDING ANY GENERAL, SPECIAL, INCIDENTAL OR 452 | CONSEQUENTIAL DAMAGES ARISING OUT OF THE USE OR INABILITY TO USE THE 453 | LIBRARY (INCLUDING BUT NOT LIMITED TO LOSS OF DATA OR DATA BEING 454 | RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD PARTIES OR A 455 | FAILURE OF THE LIBRARY TO OPERATE WITH ANY OTHER SOFTWARE), EVEN IF 456 | SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH 457 | DAMAGES. 458 | 459 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | #Firmata 2 | 3 | Firmata is a protocol for communicating with microcontrollers from software on a host computer. The [protocol](http://firmata.org/wiki/Protocol) can be implemented in firmware on any microcontroller architecture as well as software on any host computer software package. The arduino repository described here is a Firmata library for Arduino and Arduino-compatible devices. See the [firmata wiki](http://firmata.org/wiki/Main_Page) for additional informataion. If you would like to contribute to Firmata, please see the [Contributing](#contributing) section below. 4 | 5 | ##Usage 6 | 7 | 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. 8 | 9 | The second and more common model is to load a general purpose sketch called StandardFirmata on the Arduino board and then use the host computer exclusively to interact with the Arduino board. StandardFirmata is located in the Arduino IDE in File -> Examples -> Firmata. 10 | 11 | ##Firmata Client Libraries 12 | 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: 13 | 14 | * procesing 15 | * [https://github.com/firmata/processing] 16 | * [http://funnel.cc] 17 | * python 18 | * [https://github.com/firmata/pyduino] 19 | * [https://github.com/lupeke/python-firmata] 20 | * [https://github.com/tino/pyFirmata] 21 | * perl 22 | * [https://github.com/ntruchsess/perl-firmata] 23 | * [https://github.com/rcaputo/rx-firmata] 24 | * ruby 25 | * [https://github.com/hardbap/firmata] 26 | * [https://github.com/PlasticLizard/rufinol] 27 | * [http://funnel.cc] 28 | * clojure 29 | * [https://github.com/nakkaya/clodiuno] 30 | * javascript 31 | * [https://github.com/jgautier/firmata] 32 | * [http://breakoutjs.com] 33 | * [https://github.com/rwldrn/johnny-five] 34 | * java 35 | * [https://github.com/4ntoine/Firmata] 36 | * [https://github.com/shigeodayo/Javarduino] 37 | * .NET 38 | * [http://www.imagitronics.org/projects/firmatanet/] 39 | * Flash/AS3 40 | * [http://funnel.cc] 41 | * [http://code.google.com/p/as3glue/] 42 | * PHP 43 | * [https://bitbucket.org/ThomasWeinert/carica-firmata] 44 | 45 | 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. 46 | 47 | ##Updating Firmata in the Arduino IDE (< Arduino 1.5) 48 | The version of firmata in the Arduino IDE contains an outdated version of Firmata. To update Firmata, clone the repo into the location of firmata in the arduino IDE or download the latest [tagged version](https://github.com/firmata/arduino/tags) (stable), rename the folder to "Firmata" and replace the existing Firmata folder in your Ardino application. 49 | 50 | **Mac OSX**: 51 | 52 | ```bash 53 | $ rm -r /Applications/Arduino.app/Contents/Resources/Java/libraries/Firmata 54 | $ git clone git@github.com:firmata/arduino.git /Applications/Arduino.app/Contents/Resources/Java/libraries/Firmata 55 | ``` 56 | 57 | If you are downloading the latest tagged version of Firmata, rename it to "Firmata" and copy to /Applications/Arduino.app/Contents/Resources/Java/libraries/ overwriting the existing Firmata directory. Right-click (or conrol + click) on the Arduino application and choose "Show Package Contents" and navigate to the libraries directory. 58 | 59 | **Windows**: 60 | 61 | Using the Git Shell application installed with [GitHub for Windows](http://windows.github.com/) (set default shell in options to Git Bash) or other command line based git tool: 62 | 63 | update the path and arduino version as necessary 64 | ```bash 65 | $ rm -r c:/Program\ Files/arduino-1.x/libraries/Firmata 66 | $ git clone git@github.com:firmata/arduino.git c:/Program\ Files/arduino-1.x/libraries/Firmata 67 | ``` 68 | 69 | Note: If you use GitHub for Windows, you must clone the firmata/arduino repository using the Git Shell application as described above. You can use the Github for Windows GUI only after you have cloned the repository. Drag the Firmata file into the Github for Windows GUI to track it. 70 | 71 | **Linux**: 72 | 73 | update the path and arduino version as necessary 74 | ```bash 75 | $ rm -r ~/arduino-1.x/libraries/Firmata 76 | $ git clone git@github.com:firmata/arduino.git ~/arduino-1.x/libraries/Firmata 77 | ``` 78 | 79 | ##Updating Firmata in the Arduino IDE (>= Arduino 1.5.2) 80 | As of Arduino 1.5.2 and there are separate library directories for the sam and 81 | avr architectures. To update Firmata in Arduino 1.5.2 or higher, follow the 82 | instructions above for pre Arduino 1.5 versions but update the path as follows: 83 | 84 | **Mac OSX**: 85 | ``` 86 | /Applications/Arduino.app/Contents/Resources/Java/hardware/arduino/avr/libraries/Firmata 87 | /Applications/Arduino.app/Contents/Resources/Java/hardware/arduino/sam/libraries/Firmata 88 | ``` 89 | 90 | **Windows**: 91 | ``` 92 | /Program\ Files/arduino-1.5.x/hardware/arduino/avr/libraries/Firmata 93 | /Program\ Files/arduino-1.5.x/hardware/arduino/sam/libraries/Firmata 94 | ``` 95 | 96 | **Linux** 97 | ``` 98 | ~/arduino-1.5.x/hardware/arduino/avr/libraries/Firmata 99 | ~/arduino-1.5.x/hardware/arduino/sam/libraries/Firmata 100 | ``` 101 | 102 | 103 | ##Contributing 104 | 105 | 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). 106 | 107 | To contribute, fork this respository and create a new topic branch for the bug, feature or other existing issue you are addressing. Submit the pull request against the *dev* branch. 108 | 109 | 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. 110 | 111 | You must thorougly test your contributed code. In your pull request, describe tests performed to ensure that no existing code is broken and that any changes maintain backwards compatibility with the existing api. Test on multiple Arduino board variants if possible. We hope to enable some form of automated (or at least semi-automated) testing in the future, but for now any tests will need to be executed manually by the contributor and reviewsers. 112 | 113 | Maintain the existing code style: 114 | 115 | - Indentation is 2 spaces 116 | - Use spaces instead of tabs 117 | - Use camel case for both private and public properties and methods 118 | - Document functions (specific doc style is TBD... for now just be sure to document) 119 | - Insert first block bracket on line following the function definition: 120 | 121 | 
void someFunction()
122 | {
123 |   // do something
124 | }
125 |
126 | -------------------------------------------------------------------------------- /examples/BluefruitLE_nrf51822/BluefruitConfig.h: -------------------------------------------------------------------------------- 1 | // COMMON SETTINGS 2 | // ---------------------------------------------------------------------------------------------- 3 | // These settings are used in both SW UART, HW UART and SPI mode 4 | // ---------------------------------------------------------------------------------------------- 5 | #define BUFSIZE 128 // Size of the read buffer for incoming data 6 | #define VERBOSE_MODE true // If set to 'true' enables debug output 7 | 8 | 9 | // SOFTWARE UART SETTINGS 10 | // ---------------------------------------------------------------------------------------------- 11 | // The following macros declare the pins that will be used for 'SW' serial. 12 | // You should use this option if you are connecting the UART Friend to an UNO 13 | // ---------------------------------------------------------------------------------------------- 14 | #define BLUEFRUIT_SWUART_RXD_PIN 9 // Required for software serial! 15 | #define BLUEFRUIT_SWUART_TXD_PIN 10 // Required for software serial! 16 | #define BLUEFRUIT_UART_CTS_PIN 11 // Required for software serial! 17 | #define BLUEFRUIT_UART_RTS_PIN -1 // Optional, set to -1 if unused 18 | 19 | 20 | // HARDWARE UART SETTINGS 21 | // ---------------------------------------------------------------------------------------------- 22 | // The following macros declare the HW serial port you are using. Uncomment 23 | // this line if you are connecting the BLE to Leonardo/Micro or Flora 24 | // ---------------------------------------------------------------------------------------------- 25 | #ifdef Serial1 // this makes it not complain on compilation if there's no Serial1 26 | #define BLUEFRUIT_HWSERIAL_NAME Serial1 27 | #endif 28 | 29 | 30 | // SHARED UART SETTINGS 31 | // ---------------------------------------------------------------------------------------------- 32 | // The following sets the optional Mode pin, its recommended but not required 33 | // ---------------------------------------------------------------------------------------------- 34 | #define BLUEFRUIT_UART_MODE_PIN 12 // Set to -1 if unused 35 | 36 | 37 | // SHARED SPI SETTINGS 38 | // ---------------------------------------------------------------------------------------------- 39 | // The following macros declare the pins to use for HW and SW SPI communication. 40 | // SCK, MISO and MOSI should be connected to the HW SPI pins on the Uno when 41 | // using HW SPI. This should be used with nRF51822 based Bluefruit LE modules 42 | // that use SPI (Bluefruit LE SPI Friend). 43 | // ---------------------------------------------------------------------------------------------- 44 | #define BLUEFRUIT_SPI_CS 8 45 | #define BLUEFRUIT_SPI_IRQ 7 46 | #define BLUEFRUIT_SPI_RST 4 47 | 48 | // SOFTWARE SPI SETTINGS 49 | // ---------------------------------------------------------------------------------------------- 50 | // The following macros declare the pins to use for SW SPI communication. 51 | // This should be used with nRF51822 based Bluefruit LE modules that use SPI 52 | // (Bluefruit LE SPI Friend). 53 | // ---------------------------------------------------------------------------------------------- 54 | #define BLUEFRUIT_SPI_SCK 13 55 | #define BLUEFRUIT_SPI_MISO 12 56 | #define BLUEFRUIT_SPI_MOSI 11 57 | -------------------------------------------------------------------------------- /examples/BluefruitLE_nrf51822/BluefruitLE_nrf51822.ino: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | #include 4 | #include 5 | #if not defined (_VARIANT_ARDUINO_DUE_X_) && not defined (_VARIANT_ARDUINO_ZERO_) 6 | #include 7 | #endif 8 | 9 | // Change this to whatever is the Serial console you want, either Serial or SerialUSB 10 | #define FIRMATADEBUG Serial 11 | // Pause for Serial console before beginning? 12 | #define WAITFORSERIAL true 13 | // Print all BLE interactions? 14 | #define VERBOSE_MODE false 15 | 16 | 17 | /************************ CONFIGURATION SECTION ***********************************/ 18 | /* 19 | Don't forget to also change the BluefruitConfig.h for the SPI or UART connection 20 | and pinout you are using! 21 | 22 | Then below, you can edit the list of pins that are available. Remove any pins 23 | that are used for accessories or for talking to the BLE module! 24 | */ 25 | 26 | /************** For Bluefruit Micro or Feather 32u4 Bluefruit ************/ 27 | uint8_t boards_digitaliopins[] = {0,1,2,3,5,6,9,10,11,12,13,A0,A1,A2,A3,A4,A5}; 28 | 29 | /************** For UNO + nRF58122 SPI & shield ************/ 30 | //uint8_t boards_digitaliopins[] = {2, 3, 5, 6, 9, 10, A0, A1, A2, A3, A4, A5}; 31 | 32 | /************** For Bluefruit M0 Bluefruit ************/ 33 | //uint8_t boards_digitaliopins[] = {0,1,5,6,9,10,11,12,13,20,21,A0,A1,A2,A3,A4,A5}; 34 | 35 | #if defined(__AVR_ATmega328P__) 36 | // Standard setup for UNO, no need to tweak 37 | uint8_t boards_analogiopins[] = {A0, A1, A2, A3, A4, A5}; // A0 == digital 14, etc 38 | uint8_t boards_pwmpins[] = {3, 5, 6, 9, 10, 11}; 39 | uint8_t boards_servopins[] = {9, 10}; 40 | uint8_t boards_i2cpins[] = {SDA, SCL}; 41 | #elif defined(__AVR_ATmega32U4__) 42 | uint8_t boards_analogiopins[] = {A0, A1, A2, A3, A4, A5}; // A0 == digital 14, etc 43 | uint8_t boards_pwmpins[] = {3, 5, 6, 9, 10, 11, 13}; 44 | uint8_t boards_servopins[] = {3, 5, 6, 9, 10, 11, 13}; 45 | uint8_t boards_i2cpins[] = {SDA, SCL}; 46 | #elif defined(__SAMD21G18A__) 47 | #define SDA PIN_WIRE_SDA 48 | #define SCL PIN_WIRE_SCL 49 | uint8_t boards_analogiopins[] = {PIN_A0, PIN_A1, PIN_A2, PIN_A3, PIN_A4, PIN_A5,PIN_A6, PIN_A7}; // A0 == digital 14, etc 50 | uint8_t boards_pwmpins[] = {3,4,5,6,8,10,11,12,A0,A1,A2,A3,A4,A5}; 51 | uint8_t boards_servopins[] = {9, 10}; 52 | uint8_t boards_i2cpins[] = {SDA, SCL}; 53 | #define NUM_DIGITAL_PINS 26 54 | #endif 55 | 56 | 57 | #define TOTAL_PINS NUM_DIGITAL_PINS /* highest number in boards_digitaliopins MEMEFIXME:automate */ 58 | #define TOTAL_PORTS ((TOTAL_PINS + 7) / 8) 59 | 60 | 61 | /***********************************************************/ 62 | 63 | 64 | #include "Adafruit_BLE_Firmata_Boards.h" 65 | 66 | #include "Adafruit_BLE.h" 67 | #include "Adafruit_BluefruitLE_SPI.h" 68 | #include "Adafruit_BluefruitLE_UART.h" 69 | #include "BluefruitConfig.h" 70 | 71 | 72 | // Create the bluefruit object, either software serial...uncomment these lines 73 | /* 74 | SoftwareSerial bluefruitSS = SoftwareSerial(BLUEFRUIT_SWUART_TXD_PIN, BLUEFRUIT_SWUART_RXD_PIN); 75 | 76 | Adafruit_BluefruitLE_UART bluefruit(bluefruitSS, BLUEFRUIT_UART_MODE_PIN, 77 | BLUEFRUIT_UART_CTS_PIN, BLUEFRUIT_UART_RTS_PIN); 78 | */ 79 | 80 | /* ...or hardware serial, which does not need the RTS/CTS pins. Uncomment this line */ 81 | // Adafruit_BluefruitLE_UART bluefruit(BLUEFRUIT_HWSERIAL_NAME, BLUEFRUIT_UART_MODE_PIN); 82 | 83 | /* ...hardware SPI, using SCK/MOSI/MISO hardware SPI pins and then user selected CS/IRQ/RST */ 84 | Adafruit_BluefruitLE_SPI bluefruit(BLUEFRUIT_SPI_CS, BLUEFRUIT_SPI_IRQ, BLUEFRUIT_SPI_RST); 85 | 86 | /* ...software SPI, using SCK/MOSI/MISO user-defined SPI pins and then user selected CS/IRQ/RST */ 87 | //Adafruit_BluefruitLE_SPI bluefruit(BLUEFRUIT_SPI_SCK, BLUEFRUIT_SPI_MISO, 88 | // BLUEFRUIT_SPI_MOSI, BLUEFRUIT_SPI_CS, 89 | // BLUEFRUIT_SPI_IRQ, BLUEFRUIT_SPI_RST); 90 | 91 | 92 | #define AUTO_INPUT_PULLUPS true 93 | 94 | // our current connection status 95 | boolean lastBTLEstatus, BTLEstatus; 96 | 97 | // make one instance for the user to use 98 | Adafruit_BLE_FirmataClass BLE_Firmata = Adafruit_BLE_FirmataClass(bluefruit); 99 | 100 | // A small helper 101 | void error(const __FlashStringHelper*err) { 102 | FIRMATADEBUG.println(err); 103 | while (1); 104 | } 105 | 106 | /*============================================================================== 107 | * GLOBAL VARIABLES 108 | *============================================================================*/ 109 | 110 | /* analog inputs */ 111 | int analogInputsToReport = 0; // bitwise array to store pin reporting 112 | int lastAnalogReads[NUM_ANALOG_INPUTS]; 113 | 114 | /* digital input ports */ 115 | byte reportPINs[TOTAL_PORTS]; // 1 = report this port, 0 = silence 116 | byte previousPINs[TOTAL_PORTS]; // previous 8 bits sent 117 | 118 | /* pins configuration */ 119 | byte pinConfig[TOTAL_PINS]; // configuration of every pin 120 | byte portConfigInputs[TOTAL_PORTS]; // each bit: 1 = pin in INPUT, 0 = anything else 121 | int pinState[TOTAL_PINS]; // any value that has been written 122 | 123 | /* timer variables */ 124 | unsigned long currentMillis; // store the current value from millis() 125 | unsigned long previousMillis; // for comparison with currentMillis 126 | int samplingInterval = 200; // how often to run the main loop (in ms) 127 | #define MINIMUM_SAMPLE_DELAY 150 128 | #define ANALOG_SAMPLE_DELAY 50 129 | 130 | 131 | /* i2c data */ 132 | struct i2c_device_info { 133 | byte addr; 134 | byte reg; 135 | byte bytes; 136 | }; 137 | 138 | /* for i2c read continuous more */ 139 | i2c_device_info query[MAX_QUERIES]; 140 | 141 | byte i2cRxData[32]; 142 | boolean isI2CEnabled = false; 143 | signed char queryIndex = -1; 144 | unsigned int i2cReadDelayTime = 0; // default delay time between i2c read request and Wire.requestFrom() 145 | 146 | Servo servos[MAX_SERVOS]; 147 | /*============================================================================== 148 | * FUNCTIONS 149 | *============================================================================*/ 150 | 151 | void readAndReportData(byte address, int theRegister, byte numBytes) { 152 | // allow I2C requests that don't require a register read 153 | // for example, some devices using an interrupt pin to signify new data available 154 | // do not always require the register read so upon interrupt you call Wire.requestFrom() 155 | if (theRegister != REGISTER_NOT_SPECIFIED) { 156 | Wire.beginTransmission(address); 157 | #if ARDUINO >= 100 158 | Wire.write((byte)theRegister); 159 | #else 160 | Wire.send((byte)theRegister); 161 | #endif 162 | Wire.endTransmission(); 163 | delayMicroseconds(i2cReadDelayTime); // delay is necessary for some devices such as WiiNunchuck 164 | } else { 165 | theRegister = 0; // fill the register with a dummy value 166 | } 167 | 168 | Wire.requestFrom(address, numBytes); // all bytes are returned in requestFrom 169 | 170 | // check to be sure correct number of bytes were returned by slave 171 | if(numBytes == Wire.available()) { 172 | i2cRxData[0] = address; 173 | i2cRxData[1] = theRegister; 174 | for (int i = 0; i < numBytes; i++) { 175 | #if ARDUINO >= 100 176 | i2cRxData[2 + i] = Wire.read(); 177 | #else 178 | i2cRxData[2 + i] = Wire.receive(); 179 | #endif 180 | } 181 | } 182 | else { 183 | if(numBytes > Wire.available()) { 184 | BLE_Firmata.sendString("I2C Read Error: Too many bytes received"); 185 | } else { 186 | BLE_Firmata.sendString("I2C Read Error: Too few bytes received"); 187 | } 188 | } 189 | 190 | // send slave address, register and received bytes 191 | BLE_Firmata.sendSysex(SYSEX_I2C_REPLY, numBytes + 2, i2cRxData); 192 | } 193 | 194 | void outputPort(byte portNumber, byte portValue, byte forceSend) 195 | { 196 | // pins not configured as INPUT are cleared to zeros 197 | portValue = portValue & portConfigInputs[portNumber]; 198 | // only send if the value is different than previously sent 199 | if(forceSend || previousPINs[portNumber] != portValue) { 200 | //FIRMATADEBUG.print(F("Sending update for port ")); FIRMATADEBUG.print(portNumber); FIRMATADEBUG.print(" = 0x"); FIRMATADEBUG.println(portValue, HEX); 201 | BLE_Firmata.sendDigitalPort(portNumber, portValue); 202 | previousPINs[portNumber] = portValue; 203 | } 204 | } 205 | 206 | /* ----------------------------------------------------------------------------- 207 | * check all the active digital inputs for change of state, then add any events 208 | * to the Serial output queue using () */ 209 | void checkDigitalInputs(boolean forceSend = false) 210 | { 211 | /* Using non-looping code allows constants to be given to readPort(). 212 | * The compiler will apply substantial optimizations if the inputs 213 | * to readPort() are compile-time constants. */ 214 | for (uint8_t i=0; i TOTAL_PINS) lastPin = TOTAL_PINS; 344 | for (pin=port*8; pin < lastPin; pin++) { 345 | // do not disturb non-digital pins (eg, Rx & Tx) 346 | if (BLE_Firmata.IS_PIN_DIGITAL(pin)) { 347 | // only write to OUTPUT 348 | // do not touch pins in PWM, ANALOG, SERVO or other modes 349 | if (pinConfig[pin] == OUTPUT) { 350 | pinWriteMask |= mask; 351 | pinState[pin] = ((byte)value & mask) ? 1 : 0; 352 | } 353 | } 354 | mask = mask << 1; 355 | } 356 | FIRMATADEBUG.print(F("Write digital port #")); FIRMATADEBUG.print(port); 357 | FIRMATADEBUG.print(F(" = 0x")); FIRMATADEBUG.print(value, HEX); 358 | FIRMATADEBUG.print(F(" mask = 0x")); FIRMATADEBUG.println(pinWriteMask, HEX); 359 | BLE_Firmata.writePort(port, (byte)value, pinWriteMask); 360 | } 361 | } 362 | 363 | 364 | // ----------------------------------------------------------------------------- 365 | /* sets bits in a bit array (int) to toggle the reporting of the analogIns 366 | */ 367 | //void FirmataClass::setAnalogPinReporting(byte pin, byte state) { 368 | //} 369 | void reportAnalogCallback(byte analogPin, int value) 370 | { 371 | if (analogPin < BLE_Firmata._num_analogiopins) { 372 | if(value == 0) { 373 | analogInputsToReport = analogInputsToReport &~ (1 << analogPin); 374 | FIRMATADEBUG.print(F("Stop reporting analog pin #")); FIRMATADEBUG.println(analogPin); 375 | } else { 376 | analogInputsToReport |= (1 << analogPin); 377 | FIRMATADEBUG.print(F("Will report analog pin #")); FIRMATADEBUG.println(analogPin); 378 | } 379 | } 380 | // TODO: save status to EEPROM here, if changed 381 | } 382 | 383 | void reportDigitalCallback(byte port, int value) 384 | { 385 | if (port < TOTAL_PORTS) { 386 | //FIRMATADEBUG.print(F("Will report 0x")); FIRMATADEBUG.print(value, HEX); FIRMATADEBUG.print(F(" digital mask on port ")); FIRMATADEBUG.println(port); 387 | reportPINs[port] = (byte)value; 388 | } 389 | // do not disable analog reporting on these 8 pins, to allow some 390 | // pins used for digital, others analog. Instead, allow both types 391 | // of reporting to be enabled, but check if the pin is configured 392 | // as analog when sampling the analog inputs. Likewise, while 393 | // scanning digital pins, portConfigInputs will mask off values from any 394 | // pins configured as analog 395 | } 396 | 397 | /*============================================================================== 398 | * SYSEX-BASED commands 399 | *============================================================================*/ 400 | 401 | void sysexCallback(byte command, byte argc, byte *argv) 402 | { 403 | byte mode; 404 | byte slaveAddress; 405 | byte slaveRegister; 406 | byte data; 407 | unsigned int delayTime; 408 | 409 | FIRMATADEBUG.println("********** Sysex callback"); 410 | switch(command) { 411 | case I2C_REQUEST: 412 | mode = argv[1] & I2C_READ_WRITE_MODE_MASK; 413 | if (argv[1] & I2C_10BIT_ADDRESS_MODE_MASK) { 414 | //BLE_Firmata.sendString("10-bit addressing mode is not yet supported"); 415 | FIRMATADEBUG.println(F("10-bit addressing mode is not yet supported")); 416 | return; 417 | } 418 | else { 419 | slaveAddress = argv[0]; 420 | } 421 | 422 | switch(mode) { 423 | case I2C_WRITE: 424 | Wire.beginTransmission(slaveAddress); 425 | for (byte i = 2; i < argc; i += 2) { 426 | data = argv[i] + (argv[i + 1] << 7); 427 | #if ARDUINO >= 100 428 | Wire.write(data); 429 | #else 430 | Wire.send(data); 431 | #endif 432 | } 433 | Wire.endTransmission(); 434 | delayMicroseconds(70); 435 | break; 436 | case I2C_READ: 437 | if (argc == 6) { 438 | // a slave register is specified 439 | slaveRegister = argv[2] + (argv[3] << 7); 440 | data = argv[4] + (argv[5] << 7); // bytes to read 441 | readAndReportData(slaveAddress, (int)slaveRegister, data); 442 | } 443 | else { 444 | // a slave register is NOT specified 445 | data = argv[2] + (argv[3] << 7); // bytes to read 446 | readAndReportData(slaveAddress, (int)REGISTER_NOT_SPECIFIED, data); 447 | } 448 | break; 449 | case I2C_READ_CONTINUOUSLY: 450 | if ((queryIndex + 1) >= MAX_QUERIES) { 451 | // too many queries, just ignore 452 | BLE_Firmata.sendString("too many queries"); 453 | break; 454 | } 455 | queryIndex++; 456 | query[queryIndex].addr = slaveAddress; 457 | query[queryIndex].reg = argv[2] + (argv[3] << 7); 458 | query[queryIndex].bytes = argv[4] + (argv[5] << 7); 459 | break; 460 | case I2C_STOP_READING: 461 | byte queryIndexToSkip; 462 | // if read continuous mode is enabled for only 1 i2c device, disable 463 | // read continuous reporting for that device 464 | if (queryIndex <= 0) { 465 | queryIndex = -1; 466 | } else { 467 | // if read continuous mode is enabled for multiple devices, 468 | // determine which device to stop reading and remove it's data from 469 | // the array, shifiting other array data to fill the space 470 | for (byte i = 0; i < queryIndex + 1; i++) { 471 | if (query[i].addr = slaveAddress) { 472 | queryIndexToSkip = i; 473 | break; 474 | } 475 | } 476 | 477 | for (byte i = queryIndexToSkip; i 0) { 495 | i2cReadDelayTime = delayTime; 496 | } 497 | 498 | if (!isI2CEnabled) { 499 | enableI2CPins(); 500 | } 501 | 502 | break; 503 | case SERVO_CONFIG: 504 | if(argc > 4) { 505 | // these vars are here for clarity, they'll optimized away by the compiler 506 | byte pin = argv[0]; 507 | int minPulse = argv[1] + (argv[2] << 7); 508 | int maxPulse = argv[3] + (argv[4] << 7); 509 | 510 | if (BLE_Firmata.IS_PIN_SERVO(pin)) { 511 | if (servos[BLE_Firmata.PIN_TO_SERVO(pin)].attached()) 512 | servos[BLE_Firmata.PIN_TO_SERVO(pin)].detach(); 513 | servos[BLE_Firmata.PIN_TO_SERVO(pin)].attach(BLE_Firmata.PIN_TO_DIGITAL(pin), minPulse, maxPulse); 514 | setPinModeCallback(pin, SERVO); 515 | } 516 | } 517 | break; 518 | case SAMPLING_INTERVAL: 519 | if (argc > 1) { 520 | samplingInterval = argv[0] + (argv[1] << 7); 521 | if (samplingInterval < MINIMUM_SAMPLING_INTERVAL) { 522 | samplingInterval = MINIMUM_SAMPLING_INTERVAL; 523 | } 524 | } else { 525 | //BLE_Firmata.sendString("Not enough data"); 526 | } 527 | break; 528 | case EXTENDED_ANALOG: 529 | if (argc > 1) { 530 | int val = argv[1]; 531 | if (argc > 2) val |= (argv[2] << 7); 532 | if (argc > 3) val |= (argv[3] << 14); 533 | analogWriteCallback(argv[0], val); 534 | } 535 | break; 536 | case CAPABILITY_QUERY: 537 | bluefruit.write(START_SYSEX); 538 | bluefruit.write(CAPABILITY_RESPONSE); 539 | 540 | //FIRMATADEBUG.print(" 0x"); FIRMATADEBUG.print(START_SYSEX, HEX); FIRMATADEBUG.print(" 0x"); FIRMATADEBUG.println(CAPABILITY_RESPONSE, HEX); 541 | delay(10); 542 | for (byte pin=0; pin < TOTAL_PINS; pin++) { 543 | //FIRMATADEBUG.print("\t#"); FIRMATADEBUG.println(pin); 544 | if (BLE_Firmata.IS_PIN_DIGITAL(pin)) { 545 | bluefruit.write((byte)INPUT); 546 | bluefruit.write(1); 547 | bluefruit.write((byte)OUTPUT); 548 | bluefruit.write(1); 549 | 550 | /* 551 | FIRMATADEBUG.print(" 0x"); FIRMATADEBUG.print(INPUT, HEX); 552 | FIRMATADEBUG.print(" 0x"); FIRMATADEBUG.print(1, HEX); 553 | FIRMATADEBUG.print(" 0x"); FIRMATADEBUG.print(OUTPUT, HEX); 554 | FIRMATADEBUG.print(" 0x"); FIRMATADEBUG.println(1, HEX); 555 | */ 556 | delay(20); 557 | } else { 558 | bluefruit.write(127); 559 | //FIRMATADEBUG.print(" 0x"); FIRMATADEBUG.println(127, HEX); 560 | delay(20); 561 | continue; 562 | } 563 | if (BLE_Firmata.IS_PIN_ANALOG(pin)) { 564 | bluefruit.write(ANALOG); 565 | bluefruit.write(10); 566 | 567 | //FIRMATADEBUG.print(" 0x"); FIRMATADEBUG.print(ANALOG, HEX); FIRMATADEBUG.print(" 0x"); FIRMATADEBUG.println(10, HEX); 568 | delay(20); 569 | } 570 | if (BLE_Firmata.IS_PIN_PWM(pin)) { 571 | bluefruit.write(PWM); 572 | bluefruit.write(8); 573 | 574 | //FIRMATADEBUG.print(" 0x"); FIRMATADEBUG.print(PWM, HEX); FIRMATADEBUG.print(" 0x"); FIRMATADEBUG.println(8, HEX); 575 | delay(20); 576 | } 577 | if (BLE_Firmata.IS_PIN_SERVO(pin)) { 578 | bluefruit.write(SERVO); 579 | bluefruit.write(14); 580 | 581 | //FIRMATADEBUG.print(" 0x"); FIRMATADEBUG.print(SERVO, HEX);FIRMATADEBUG.print(" 0x"); FIRMATADEBUG.println(14, HEX); 582 | delay(20); 583 | } 584 | if (BLE_Firmata.IS_PIN_I2C(pin)) { 585 | bluefruit.write(I2C); 586 | bluefruit.write(1); // to do: determine appropriate value 587 | delay(20); 588 | } 589 | bluefruit.write(127); 590 | //FIRMATADEBUG.print(" 0x"); FIRMATADEBUG.println(127, HEX); 591 | } 592 | bluefruit.write(END_SYSEX); 593 | //FIRMATADEBUG.print(" 0x"); FIRMATADEBUG.println(END_SYSEX, HEX); 594 | break; 595 | case PIN_STATE_QUERY: 596 | if (argc > 0) { 597 | byte pin=argv[0]; 598 | bluefruit.write(START_SYSEX); 599 | bluefruit.write(PIN_STATE_RESPONSE); 600 | bluefruit.write(pin); 601 | if (pin < TOTAL_PINS) { 602 | bluefruit.write((byte)pinConfig[pin]); 603 | bluefruit.write((byte)pinState[pin] & 0x7F); 604 | if (pinState[pin] & 0xFF80) bluefruit.write((byte)(pinState[pin] >> 7) & 0x7F); 605 | if (pinState[pin] & 0xC000) bluefruit.write((byte)(pinState[pin] >> 14) & 0x7F); 606 | } 607 | bluefruit.write(END_SYSEX); 608 | } 609 | break; 610 | case ANALOG_MAPPING_QUERY: 611 | FIRMATADEBUG.println("Analog mapping query"); 612 | bluefruit.write(START_SYSEX); 613 | bluefruit.write(ANALOG_MAPPING_RESPONSE); 614 | for (byte pin=0; pin < TOTAL_PINS; pin++) { 615 | bluefruit.write(BLE_Firmata.IS_PIN_ANALOG(pin) ? BLE_Firmata.PIN_TO_ANALOG(pin) : 127); 616 | } 617 | bluefruit.write(END_SYSEX); 618 | break; 619 | } 620 | } 621 | 622 | void enableI2CPins() 623 | { 624 | byte i; 625 | // is there a faster way to do this? would probaby require importing 626 | // Arduino.h to get SCL and SDA pins 627 | for (i=0; i < TOTAL_PINS; i++) { 628 | if(BLE_Firmata.IS_PIN_I2C(i)) { 629 | // mark pins as i2c so they are ignore in non i2c data requests 630 | setPinModeCallback(i, I2C); 631 | } 632 | } 633 | 634 | isI2CEnabled = true; 635 | 636 | // is there enough time before the first I2C request to call this here? 637 | Wire.begin(); 638 | } 639 | 640 | /* disable the i2c pins so they can be used for other functions */ 641 | void disableI2CPins() { 642 | isI2CEnabled = false; 643 | // disable read continuous mode for all devices 644 | queryIndex = -1; 645 | // uncomment the following if or when the end() method is added to Wire library 646 | // Wire.end(); 647 | } 648 | 649 | /*============================================================================== 650 | * SETUP() 651 | *============================================================================*/ 652 | 653 | void systemResetCallback() 654 | { 655 | // initialize a defalt state 656 | FIRMATADEBUG.println(F("***RESET***")); 657 | // TODO: option to load config from EEPROM instead of default 658 | if (isI2CEnabled) { 659 | disableI2CPins(); 660 | } 661 | for (byte i=0; i < TOTAL_PORTS; i++) { 662 | reportPINs[i] = false; // by default, reporting off 663 | portConfigInputs[i] = 0; // until activated 664 | previousPINs[i] = 0; 665 | } 666 | // pins with analog capability default to analog input 667 | // otherwise, pins default to digital output 668 | for (byte i=0; i < TOTAL_PINS; i++) { 669 | if (BLE_Firmata.IS_PIN_ANALOG(i)) { 670 | // turns off pullup, configures everything 671 | setPinModeCallback(i, ANALOG); 672 | } else { 673 | // sets the output to 0, configures portConfigInputs 674 | setPinModeCallback(i, INPUT); 675 | } 676 | } 677 | // by default, do not report any analog inputs 678 | analogInputsToReport = 0; 679 | 680 | /* send digital inputs to set the initial state on the host computer, 681 | * since once in the loop(), this firmware will only send on change */ 682 | /* 683 | TODO: this can never execute, since no pins default to digital input 684 | but it will be needed when/if we support EEPROM stored config 685 | for (byte i=0; i < TOTAL_PORTS; i++) { 686 | outputPort(i, readPort(i, portConfigInputs[i]), true); 687 | } 688 | */ 689 | } 690 | 691 | void setup() 692 | { 693 | if (WAITFORSERIAL) { 694 | while (!FIRMATADEBUG) delay(1); 695 | } 696 | 697 | FIRMATADEBUG.begin(9600); 698 | FIRMATADEBUG.println(F("Adafruit Bluefruit LE Firmata test")); 699 | 700 | FIRMATADEBUG.print("Total pins: "); FIRMATADEBUG.println(NUM_DIGITAL_PINS); 701 | FIRMATADEBUG.print("Analog pins: "); FIRMATADEBUG.println(sizeof(boards_analogiopins)); 702 | //for (uint8_t i=0; i samplingInterval) { 833 | previousMillis += samplingInterval; 834 | /* ANALOGREAD - do all analogReads() at the configured sampling interval */ 835 | 836 | for(pin=0; pin= 100 129 | Wire.write((byte)theRegister); 130 | #else 131 | Wire.send((byte)theRegister); 132 | #endif 133 | Wire.endTransmission(); 134 | delayMicroseconds(i2cReadDelayTime); // delay is necessary for some devices such as WiiNunchuck 135 | } else { 136 | theRegister = 0; // fill the register with a dummy value 137 | } 138 | 139 | Wire.requestFrom(address, numBytes); // all bytes are returned in requestFrom 140 | 141 | // check to be sure correct number of bytes were returned by slave 142 | if(numBytes == Wire.available()) { 143 | i2cRxData[0] = address; 144 | i2cRxData[1] = theRegister; 145 | for (int i = 0; i < numBytes; i++) { 146 | #if ARDUINO >= 100 147 | i2cRxData[2 + i] = Wire.read(); 148 | #else 149 | i2cRxData[2 + i] = Wire.receive(); 150 | #endif 151 | } 152 | } 153 | else { 154 | if(numBytes > Wire.available()) { 155 | BLE_Firmata.sendString("I2C Read Error: Too many bytes received"); 156 | } else { 157 | BLE_Firmata.sendString("I2C Read Error: Too few bytes received"); 158 | } 159 | } 160 | 161 | // send slave address, register and received bytes 162 | BLE_Firmata.sendSysex(SYSEX_I2C_REPLY, numBytes + 2, i2cRxData); 163 | } 164 | 165 | void outputPort(byte portNumber, byte portValue, byte forceSend) 166 | { 167 | // pins not configured as INPUT are cleared to zeros 168 | portValue = portValue & portConfigInputs[portNumber]; 169 | // only send if the value is different than previously sent 170 | if(forceSend || previousPINs[portNumber] != portValue) { 171 | //FIRMATADEBUG.print(F("Sending update for port ")); FIRMATADEBUG.print(portNumber); FIRMATADEBUG.print(" = 0x"); FIRMATADEBUG.println(portValue, HEX); 172 | BLE_Firmata.sendDigitalPort(portNumber, portValue); 173 | previousPINs[portNumber] = portValue; 174 | } 175 | } 176 | 177 | /* ----------------------------------------------------------------------------- 178 | * check all the active digital inputs for change of state, then add any events 179 | * to the Serial output queue using () */ 180 | void checkDigitalInputs(boolean forceSend = false) 181 | { 182 | /* Using non-looping code allows constants to be given to readPort(). 183 | * The compiler will apply substantial optimizations if the inputs 184 | * to readPort() are compile-time constants. */ 185 | for (uint8_t i=0; i TOTAL_PINS) lastPin = TOTAL_PINS; 315 | for (pin=port*8; pin < lastPin; pin++) { 316 | // do not disturb non-digital pins (eg, Rx & Tx) 317 | if (BLE_Firmata.IS_PIN_DIGITAL(pin)) { 318 | // only write to OUTPUT 319 | // do not touch pins in PWM, ANALOG, SERVO or other modes 320 | if (pinConfig[pin] == OUTPUT) { 321 | pinWriteMask |= mask; 322 | pinState[pin] = ((byte)value & mask) ? 1 : 0; 323 | } 324 | } 325 | mask = mask << 1; 326 | } 327 | //FIRMATADEBUG.print(F("Write digital port #")); FIRMATADEBUG.print(port); 328 | //FIRMATADEBUG.print(F(" = 0x")); FIRMATADEBUG.print(value, HEX); 329 | //FIRMATADEBUG.print(F(" mask = 0x")); FIRMATADEBUG.println(pinWriteMask, HEX); 330 | BLE_Firmata.writePort(port, (byte)value, pinWriteMask); 331 | } 332 | } 333 | 334 | 335 | // ----------------------------------------------------------------------------- 336 | /* sets bits in a bit array (int) to toggle the reporting of the analogIns 337 | */ 338 | //void FirmataClass::setAnalogPinReporting(byte pin, byte state) { 339 | //} 340 | void reportAnalogCallback(byte analogPin, int value) 341 | { 342 | if (analogPin < BLE_Firmata._num_analogiopins) { 343 | if(value == 0) { 344 | analogInputsToReport = analogInputsToReport &~ (1 << analogPin); 345 | //FIRMATADEBUG.print(F("Stop reporting analog pin #")); FIRMATADEBUG.println(analogPin); 346 | } else { 347 | analogInputsToReport |= (1 << analogPin); 348 | //FIRMATADEBUG.print(F("Will report analog pin #")); FIRMATADEBUG.println(analogPin); 349 | } 350 | } 351 | // TODO: save status to EEPROM here, if changed 352 | } 353 | 354 | void reportDigitalCallback(byte port, int value) 355 | { 356 | if (port < TOTAL_PORTS) { 357 | //FIRMATADEBUG.print(F("Will report 0x")); FIRMATADEBUG.print(value, HEX); FIRMATADEBUG.print(F(" digital mask on port ")); FIRMATADEBUG.println(port); 358 | reportPINs[port] = (byte)value; 359 | } 360 | // do not disable analog reporting on these 8 pins, to allow some 361 | // pins used for digital, others analog. Instead, allow both types 362 | // of reporting to be enabled, but check if the pin is configured 363 | // as analog when sampling the analog inputs. Likewise, while 364 | // scanning digital pins, portConfigInputs will mask off values from any 365 | // pins configured as analog 366 | } 367 | 368 | /*============================================================================== 369 | * SYSEX-BASED commands 370 | *============================================================================*/ 371 | 372 | void sysexCallback(byte command, byte argc, byte *argv) 373 | { 374 | byte mode; 375 | byte slaveAddress; 376 | byte slaveRegister; 377 | byte data; 378 | unsigned int delayTime; 379 | 380 | FIRMATADEBUG.println("********** Sysex callback"); 381 | 382 | switch(command) { 383 | case I2C_REQUEST: 384 | mode = argv[1] & I2C_READ_WRITE_MODE_MASK; 385 | if (argv[1] & I2C_10BIT_ADDRESS_MODE_MASK) { 386 | //BLE_Firmata.sendString("10-bit addressing mode is not yet supported"); 387 | //FIRMATADEBUG.println(F("10-bit addressing mode is not yet supported")); 388 | return; 389 | } 390 | else { 391 | slaveAddress = argv[0]; 392 | } 393 | 394 | switch(mode) { 395 | case I2C_WRITE: 396 | Wire.beginTransmission(slaveAddress); 397 | for (byte i = 2; i < argc; i += 2) { 398 | data = argv[i] + (argv[i + 1] << 7); 399 | #if ARDUINO >= 100 400 | Wire.write(data); 401 | #else 402 | Wire.send(data); 403 | #endif 404 | } 405 | Wire.endTransmission(); 406 | delayMicroseconds(70); 407 | break; 408 | case I2C_READ: 409 | if (argc == 6) { 410 | // a slave register is specified 411 | slaveRegister = argv[2] + (argv[3] << 7); 412 | data = argv[4] + (argv[5] << 7); // bytes to read 413 | readAndReportData(slaveAddress, (int)slaveRegister, data); 414 | } 415 | else { 416 | // a slave register is NOT specified 417 | data = argv[2] + (argv[3] << 7); // bytes to read 418 | readAndReportData(slaveAddress, (int)REGISTER_NOT_SPECIFIED, data); 419 | } 420 | break; 421 | case I2C_READ_CONTINUOUSLY: 422 | if ((queryIndex + 1) >= MAX_QUERIES) { 423 | // too many queries, just ignore 424 | BLE_Firmata.sendString("too many queries"); 425 | break; 426 | } 427 | queryIndex++; 428 | query[queryIndex].addr = slaveAddress; 429 | query[queryIndex].reg = argv[2] + (argv[3] << 7); 430 | query[queryIndex].bytes = argv[4] + (argv[5] << 7); 431 | break; 432 | case I2C_STOP_READING: 433 | byte queryIndexToSkip; 434 | // if read continuous mode is enabled for only 1 i2c device, disable 435 | // read continuous reporting for that device 436 | if (queryIndex <= 0) { 437 | queryIndex = -1; 438 | } else { 439 | // if read continuous mode is enabled for multiple devices, 440 | // determine which device to stop reading and remove it's data from 441 | // the array, shifiting other array data to fill the space 442 | for (byte i = 0; i < queryIndex + 1; i++) { 443 | if (query[i].addr = slaveAddress) { 444 | queryIndexToSkip = i; 445 | break; 446 | } 447 | } 448 | 449 | for (byte i = queryIndexToSkip; i 0) { 467 | i2cReadDelayTime = delayTime; 468 | } 469 | 470 | if (!isI2CEnabled) { 471 | enableI2CPins(); 472 | } 473 | 474 | break; 475 | case SERVO_CONFIG: 476 | if(argc > 4) { 477 | // these vars are here for clarity, they'll optimized away by the compiler 478 | byte pin = argv[0]; 479 | int minPulse = argv[1] + (argv[2] << 7); 480 | int maxPulse = argv[3] + (argv[4] << 7); 481 | 482 | if (BLE_Firmata.IS_PIN_SERVO(pin)) { 483 | if (servos[BLE_Firmata.PIN_TO_SERVO(pin)].attached()) 484 | servos[BLE_Firmata.PIN_TO_SERVO(pin)].detach(); 485 | servos[BLE_Firmata.PIN_TO_SERVO(pin)].attach(BLE_Firmata.PIN_TO_DIGITAL(pin), minPulse, maxPulse); 486 | setPinModeCallback(pin, SERVO); 487 | } 488 | } 489 | break; 490 | case SAMPLING_INTERVAL: 491 | if (argc > 1) { 492 | samplingInterval = argv[0] + (argv[1] << 7); 493 | if (samplingInterval < MINIMUM_SAMPLING_INTERVAL) { 494 | samplingInterval = MINIMUM_SAMPLING_INTERVAL; 495 | } 496 | } else { 497 | //BLE_Firmata.sendString("Not enough data"); 498 | } 499 | break; 500 | case EXTENDED_ANALOG: 501 | if (argc > 1) { 502 | int val = argv[1]; 503 | if (argc > 2) val |= (argv[2] << 7); 504 | if (argc > 3) val |= (argv[3] << 14); 505 | analogWriteCallback(argv[0], val); 506 | } 507 | break; 508 | case CAPABILITY_QUERY: 509 | bluefruit.write(START_SYSEX); 510 | bluefruit.write(CAPABILITY_RESPONSE); 511 | 512 | //FIRMATADEBUG.print(" 0x"); FIRMATADEBUG.print(START_SYSEX, HEX); FIRMATADEBUG.print(" 0x"); FIRMATADEBUG.println(CAPABILITY_RESPONSE, HEX); 513 | delay(10); 514 | for (byte pin=0; pin < TOTAL_PINS; pin++) { 515 | //FIRMATADEBUG.print("\t#"); FIRMATADEBUG.println(pin); 516 | if (BLE_Firmata.IS_PIN_DIGITAL(pin)) { 517 | bluefruit.write((byte)INPUT); 518 | bluefruit.write(1); 519 | bluefruit.write((byte)OUTPUT); 520 | bluefruit.write(1); 521 | 522 | /* 523 | FIRMATADEBUG.print(" 0x"); FIRMATADEBUG.print(INPUT, HEX); 524 | FIRMATADEBUG.print(" 0x"); FIRMATADEBUG.print(1, HEX); 525 | FIRMATADEBUG.print(" 0x"); FIRMATADEBUG.print(OUTPUT, HEX); 526 | FIRMATADEBUG.print(" 0x"); FIRMATADEBUG.println(1, HEX); 527 | */ 528 | delay(20); 529 | } else { 530 | bluefruit.write(127); 531 | //FIRMATADEBUG.print(" 0x"); FIRMATADEBUG.println(127, HEX); 532 | delay(20); 533 | continue; 534 | } 535 | if (BLE_Firmata.IS_PIN_ANALOG(pin)) { 536 | bluefruit.write(ANALOG); 537 | bluefruit.write(10); 538 | 539 | //FIRMATADEBUG.print(" 0x"); FIRMATADEBUG.print(ANALOG, HEX); FIRMATADEBUG.print(" 0x"); FIRMATADEBUG.println(10, HEX); 540 | delay(20); 541 | } 542 | if (BLE_Firmata.IS_PIN_PWM(pin)) { 543 | bluefruit.write(PWM); 544 | bluefruit.write(8); 545 | 546 | //FIRMATADEBUG.print(" 0x"); FIRMATADEBUG.print(PWM, HEX); FIRMATADEBUG.print(" 0x"); FIRMATADEBUG.println(8, HEX); 547 | delay(20); 548 | } 549 | if (BLE_Firmata.IS_PIN_SERVO(pin)) { 550 | bluefruit.write(SERVO); 551 | bluefruit.write(14); 552 | 553 | //FIRMATADEBUG.print(" 0x"); FIRMATADEBUG.print(SERVO, HEX);FIRMATADEBUG.print(" 0x"); FIRMATADEBUG.println(14, HEX); 554 | delay(20); 555 | } 556 | if (BLE_Firmata.IS_PIN_I2C(pin)) { 557 | bluefruit.write(I2C); 558 | bluefruit.write(1); // to do: determine appropriate value 559 | delay(20); 560 | } 561 | bluefruit.write(127); 562 | //FIRMATADEBUG.print(" 0x"); FIRMATADEBUG.println(127, HEX); 563 | } 564 | bluefruit.write(END_SYSEX); 565 | //FIRMATADEBUG.print(" 0x"); FIRMATADEBUG.println(END_SYSEX, HEX); 566 | break; 567 | case PIN_STATE_QUERY: 568 | if (argc > 0) { 569 | byte pin=argv[0]; 570 | bluefruit.write(START_SYSEX); 571 | bluefruit.write(PIN_STATE_RESPONSE); 572 | bluefruit.write(pin); 573 | if (pin < TOTAL_PINS) { 574 | bluefruit.write((byte)pinConfig[pin]); 575 | bluefruit.write((byte)pinState[pin] & 0x7F); 576 | if (pinState[pin] & 0xFF80) bluefruit.write((byte)(pinState[pin] >> 7) & 0x7F); 577 | if (pinState[pin] & 0xC000) bluefruit.write((byte)(pinState[pin] >> 14) & 0x7F); 578 | } 579 | bluefruit.write(END_SYSEX); 580 | } 581 | break; 582 | case ANALOG_MAPPING_QUERY: 583 | //FIRMATADEBUG.println("Analog mapping query"); 584 | bluefruit.write(START_SYSEX); 585 | bluefruit.write(ANALOG_MAPPING_RESPONSE); 586 | for (byte pin=0; pin < TOTAL_PINS; pin++) { 587 | bluefruit.write(BLE_Firmata.IS_PIN_ANALOG(pin) ? BLE_Firmata.PIN_TO_ANALOG(pin) : 127); 588 | } 589 | bluefruit.write(END_SYSEX); 590 | break; 591 | } 592 | } 593 | 594 | void enableI2CPins() 595 | { 596 | byte i; 597 | // is there a faster way to do this? would probaby require importing 598 | // Arduino.h to get SCL and SDA pins 599 | for (i=0; i < TOTAL_PINS; i++) { 600 | if(BLE_Firmata.IS_PIN_I2C(i)) { 601 | // mark pins as i2c so they are ignore in non i2c data requests 602 | setPinModeCallback(i, I2C); 603 | } 604 | } 605 | 606 | isI2CEnabled = true; 607 | 608 | // is there enough time before the first I2C request to call this here? 609 | Wire.begin(); 610 | } 611 | 612 | /* disable the i2c pins so they can be used for other functions */ 613 | void disableI2CPins() { 614 | isI2CEnabled = false; 615 | // disable read continuous mode for all devices 616 | queryIndex = -1; 617 | // uncomment the following if or when the end() method is added to Wire library 618 | // Wire.end(); 619 | } 620 | 621 | /*============================================================================== 622 | * SETUP() 623 | *============================================================================*/ 624 | 625 | void systemResetCallback() 626 | { 627 | // initialize a defalt state 628 | FIRMATADEBUG.println(F("***RESET***")); 629 | // TODO: option to load config from EEPROM instead of default 630 | if (isI2CEnabled) { 631 | disableI2CPins(); 632 | } 633 | for (byte i=0; i < TOTAL_PORTS; i++) { 634 | reportPINs[i] = false; // by default, reporting off 635 | portConfigInputs[i] = 0; // until activated 636 | previousPINs[i] = 0; 637 | } 638 | // pins with analog capability default to analog input 639 | // otherwise, pins default to digital output 640 | for (byte i=0; i < TOTAL_PINS; i++) { 641 | if (BLE_Firmata.IS_PIN_ANALOG(i)) { 642 | // turns off pullup, configures everything 643 | setPinModeCallback(i, ANALOG); 644 | } else { 645 | // sets the output to 0, configures portConfigInputs 646 | setPinModeCallback(i, INPUT); 647 | } 648 | } 649 | // by default, do not report any analog inputs 650 | analogInputsToReport = 0; 651 | 652 | /* send digital inputs to set the initial state on the host computer, 653 | * since once in the loop(), this firmware will only send on change */ 654 | /* 655 | TODO: this can never execute, since no pins default to digital input 656 | but it will be needed when/if we support EEPROM stored config 657 | for (byte i=0; i < TOTAL_PORTS; i++) { 658 | outputPort(i, readPort(i, portConfigInputs[i]), true); 659 | } 660 | */ 661 | } 662 | 663 | void setup() 664 | { 665 | if (WAITFORSERIAL) { 666 | while (!FIRMATADEBUG) delay(1); 667 | } 668 | 669 | FIRMATADEBUG.begin(9600); 670 | FIRMATADEBUG.println(F("Adafruit Bluefruit nRF8001 Firmata test")); 671 | 672 | FIRMATADEBUG.print("Total pins: "); FIRMATADEBUG.println(NUM_DIGITAL_PINS); 673 | FIRMATADEBUG.print("Analog pins: "); FIRMATADEBUG.println(sizeof(boards_analogiopins)); 674 | //for (uint8_t i=0; i samplingInterval) { 785 | previousMillis += samplingInterval; 786 | /* ANALOGREAD - do all analogReads() at the configured sampling interval */ 787 | 788 | for(pin=0; pin 13 | # 14 | # - Write prototypes for all your functions (or define them before you 15 | # call them). A prototype declares the types of parameters a 16 | # function will take and what type of value it will return. This 17 | # means that you can have a call to a function before the definition 18 | # of the function. A function prototype looks like the first line of 19 | # the function, with a semi-colon at the end. For example: 20 | # int digitalRead(int pin); 21 | # 22 | # Instructions for using the makefile: 23 | # 24 | # 1. Copy this file into the folder with your sketch. 25 | # 26 | # 2. Below, modify the line containing "TARGET" to refer to the name of 27 | # of your program's file without an extension (e.g. TARGET = foo). 28 | # 29 | # 3. Modify the line containg "ARDUINO" to point the directory that 30 | # contains the Arduino core (for normal Arduino installations, this 31 | # is the hardware/cores/arduino sub-directory). 32 | # 33 | # 4. Modify the line containing "PORT" to refer to the filename 34 | # representing the USB or serial connection to your Arduino board 35 | # (e.g. PORT = /dev/tty.USB0). If the exact name of this file 36 | # changes, you can use * as a wildcard (e.g. PORT = /dev/tty.USB*). 37 | # 38 | # 5. At the command line, change to the directory containing your 39 | # program's file and the makefile. 40 | # 41 | # 6. Type "make" and press enter to compile/verify your program. 42 | # 43 | # 7. Type "make upload", reset your Arduino board, and press enter to 44 | # upload your program to the Arduino board. 45 | # 46 | # $Id: Makefile,v 1.7 2007/04/13 05:28:23 eighthave Exp $ 47 | 48 | PORT = /dev/tty.usbserial-* 49 | TARGET := $(shell pwd | sed 's|.*/\(.*\)|\1|') 50 | ARDUINO = /Applications/arduino 51 | ARDUINO_SRC = $(ARDUINO)/hardware/cores/arduino 52 | ARDUINO_LIB_SRC = $(ARDUINO)/hardware/libraries 53 | ARDUINO_TOOLS = $(ARDUINO)/hardware/tools 54 | INCLUDE = -I$(ARDUINO_SRC) -I$(ARDUINO)/hardware/tools/avr/avr/include \ 55 | -I$(ARDUINO_LIB_SRC)/EEPROM \ 56 | -I$(ARDUINO_LIB_SRC)/Firmata \ 57 | -I$(ARDUINO_LIB_SRC)/Matrix \ 58 | -I$(ARDUINO_LIB_SRC)/Servo \ 59 | -I$(ARDUINO_LIB_SRC)/Wire \ 60 | -I$(ARDUINO_LIB_SRC) 61 | SRC = $(wildcard $(ARDUINO_SRC)/*.c) 62 | CXXSRC = applet/$(TARGET).cpp $(ARDUINO_SRC)/HardwareSerial.cpp \ 63 | $(ARDUINO_LIB_SRC)/EEPROM/EEPROM.cpp \ 64 | $(ARDUINO_LIB_SRC)/Firmata/Firmata.cpp \ 65 | $(ARDUINO_LIB_SRC)/Servo/Servo.cpp \ 66 | $(ARDUINO_SRC)/Print.cpp \ 67 | $(ARDUINO_SRC)/WMath.cpp 68 | HEADERS = $(wildcard $(ARDUINO_SRC)/*.h) $(wildcard $(ARDUINO_LIB_SRC)/*/*.h) 69 | 70 | MCU = atmega168 71 | #MCU = atmega8 72 | F_CPU = 16000000 73 | FORMAT = ihex 74 | UPLOAD_RATE = 19200 75 | 76 | # Name of this Makefile (used for "make depend"). 77 | MAKEFILE = Makefile 78 | 79 | # Debugging format. 80 | # Native formats for AVR-GCC's -g are stabs [default], or dwarf-2. 81 | # AVR (extended) COFF requires stabs, plus an avr-objcopy run. 82 | DEBUG = stabs 83 | 84 | OPT = s 85 | 86 | # Place -D or -U options here 87 | CDEFS = -DF_CPU=$(F_CPU) 88 | CXXDEFS = -DF_CPU=$(F_CPU) 89 | 90 | # Compiler flag to set the C Standard level. 91 | # c89 - "ANSI" C 92 | # gnu89 - c89 plus GCC extensions 93 | # c99 - ISO C99 standard (not yet fully implemented) 94 | # gnu99 - c99 plus GCC extensions 95 | CSTANDARD = -std=gnu99 96 | CDEBUG = -g$(DEBUG) 97 | CWARN = -Wall -Wstrict-prototypes 98 | CTUNING = -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums 99 | #CEXTRA = -Wa,-adhlns=$(<:.c=.lst) 100 | 101 | CFLAGS = $(CDEBUG) $(CDEFS) $(INCLUDE) -O$(OPT) $(CWARN) $(CSTANDARD) $(CEXTRA) 102 | CXXFLAGS = $(CDEFS) $(INCLUDE) -O$(OPT) 103 | #ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs 104 | LDFLAGS = 105 | 106 | 107 | # Programming support using avrdude. Settings and variables. 108 | AVRDUDE_PROGRAMMER = stk500 109 | AVRDUDE_PORT = $(PORT) 110 | AVRDUDE_WRITE_FLASH = -U flash:w:applet/$(TARGET).hex 111 | AVRDUDE_FLAGS = -F -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) \ 112 | -b $(UPLOAD_RATE) -q -V 113 | 114 | # Program settings 115 | ARDUINO_AVR_BIN = $(ARDUINO_TOOLS)/avr/bin 116 | CC = $(ARDUINO_AVR_BIN)/avr-gcc 117 | CXX = $(ARDUINO_AVR_BIN)/avr-g++ 118 | OBJCOPY = $(ARDUINO_AVR_BIN)/avr-objcopy 119 | OBJDUMP = $(ARDUINO_AVR_BIN)/avr-objdump 120 | SIZE = $(ARDUINO_AVR_BIN)/avr-size 121 | NM = $(ARDUINO_AVR_BIN)/avr-nm 122 | #AVRDUDE = $(ARDUINO_AVR_BIN)/avrdude 123 | AVRDUDE = avrdude 124 | REMOVE = rm -f 125 | MV = mv -f 126 | 127 | # Define all object files. 128 | OBJ = $(SRC:.c=.o) $(CXXSRC:.cpp=.o) $(ASRC:.S=.o) 129 | 130 | # Define all listing files. 131 | LST = $(ASRC:.S=.lst) $(CXXSRC:.cpp=.lst) $(SRC:.c=.lst) 132 | 133 | # Combine all necessary flags and optional flags. 134 | # Add target processor to flags. 135 | ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) 136 | ALL_CXXFLAGS = -mmcu=$(MCU) -I. $(CXXFLAGS) 137 | ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS) 138 | 139 | 140 | # Default target. 141 | all: build 142 | 143 | build: applet/$(TARGET).hex 144 | 145 | eep: applet/$(TARGET).eep 146 | lss: applet/$(TARGET).lss 147 | sym: applet/$(TARGET).sym 148 | 149 | 150 | # Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB. 151 | COFFCONVERT=$(OBJCOPY) --debugging \ 152 | --change-section-address .data-0x800000 \ 153 | --change-section-address .bss-0x800000 \ 154 | --change-section-address .noinit-0x800000 \ 155 | --change-section-address .eeprom-0x810000 156 | 157 | 158 | coff: applet/$(TARGET).elf 159 | $(COFFCONVERT) -O coff-avr applet/$(TARGET).elf applet/$(TARGET).cof 160 | 161 | 162 | extcoff: applet/$(TARGET).elf 163 | $(COFFCONVERT) -O coff-ext-avr applet/$(TARGET).elf applet/$(TARGET).cof 164 | 165 | 166 | .SUFFIXES: .elf .hex .eep .lss .sym .pde 167 | 168 | .elf.hex: 169 | $(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@ 170 | 171 | .elf.eep: 172 | -$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \ 173 | --change-section-lma .eeprom=0 -O $(FORMAT) $< $@ 174 | 175 | # Create extended listing file from ELF output file. 176 | .elf.lss: 177 | $(OBJDUMP) -h -S $< > $@ 178 | 179 | # Create a symbol table from ELF output file. 180 | .elf.sym: 181 | $(NM) -n $< > $@ 182 | 183 | 184 | # Compile: create object files from C++ source files. 185 | .cpp.o: $(HEADERS) 186 | $(CXX) -c $(ALL_CXXFLAGS) $< -o $@ 187 | 188 | # Compile: create object files from C source files. 189 | .c.o: $(HEADERS) 190 | $(CC) -c $(ALL_CFLAGS) $< -o $@ 191 | 192 | 193 | # Compile: create assembler files from C source files. 194 | .c.s: 195 | $(CC) -S $(ALL_CFLAGS) $< -o $@ 196 | 197 | 198 | # Assemble: create object files from assembler source files. 199 | .S.o: 200 | $(CC) -c $(ALL_ASFLAGS) $< -o $@ 201 | 202 | 203 | 204 | applet/$(TARGET).cpp: $(TARGET).pde 205 | test -d applet || mkdir applet 206 | echo '#include "WProgram.h"' > applet/$(TARGET).cpp 207 | echo '#include "avr/interrupt.h"' >> applet/$(TARGET).cpp 208 | sed -n 's|^\(void .*)\).*|\1;|p' $(TARGET).pde | grep -v 'setup()' | \ 209 | grep -v 'loop()' >> applet/$(TARGET).cpp 210 | cat $(TARGET).pde >> applet/$(TARGET).cpp 211 | cat $(ARDUINO_SRC)/main.cxx >> applet/$(TARGET).cpp 212 | 213 | # Link: create ELF output file from object files. 214 | applet/$(TARGET).elf: applet/$(TARGET).cpp $(OBJ) 215 | $(CC) $(ALL_CFLAGS) $(OBJ) -lm --output $@ $(LDFLAGS) 216 | # $(CC) $(ALL_CFLAGS) $(OBJ) $(ARDUINO_TOOLS)/avr/avr/lib/avr5/crtm168.o --output $@ $(LDFLAGS) 217 | 218 | pd_close_serial: 219 | echo 'close;' | /Applications/Pd-extended.app/Contents/Resources/bin/pdsend 34567 || true 220 | 221 | # Program the device. 222 | upload: applet/$(TARGET).hex 223 | $(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) 224 | 225 | 226 | pd_test: build pd_close_serial upload 227 | 228 | # Target: clean project. 229 | clean: 230 | $(REMOVE) -- applet/$(TARGET).hex applet/$(TARGET).eep \ 231 | applet/$(TARGET).cof applet/$(TARGET).elf $(TARGET).map \ 232 | applet/$(TARGET).sym applet/$(TARGET).lss applet/$(TARGET).cpp \ 233 | $(OBJ) $(LST) $(SRC:.c=.s) $(SRC:.c=.d) $(CXXSRC:.cpp=.s) $(CXXSRC:.cpp=.d) 234 | rmdir -- applet 235 | 236 | depend: 237 | if grep '^# DO NOT DELETE' $(MAKEFILE) >/dev/null; \ 238 | then \ 239 | sed -e '/^# DO NOT DELETE/,$$d' $(MAKEFILE) > \ 240 | $(MAKEFILE).$$$$ && \ 241 | $(MV) $(MAKEFILE).$$$$ $(MAKEFILE); \ 242 | fi 243 | echo '# DO NOT DELETE THIS LINE -- make depend depends on it.' \ 244 | >> $(MAKEFILE); \ 245 | $(CC) -M -mmcu=$(MCU) $(CDEFS) $(INCLUDE) $(SRC) $(ASRC) >> $(MAKEFILE) 246 | 247 | .PHONY: all build eep lss sym coff extcoff clean depend pd_close_serial pd_test 248 | 249 | # for emacs 250 | etags: 251 | make etags_`uname -s` 252 | etags *.pde \ 253 | $(ARDUINO_SRC)/*.[ch] \ 254 | $(ARDUINO_SRC)/*.cpp \ 255 | $(ARDUINO_LIB_SRC)/*/*.[ch] \ 256 | $(ARDUINO_LIB_SRC)/*/*.cpp \ 257 | $(ARDUINO)/hardware/tools/avr/avr/include/avr/*.[ch] \ 258 | $(ARDUINO)/hardware/tools/avr/avr/include/*.[ch] 259 | 260 | etags_Darwin: 261 | # etags -a 262 | 263 | etags_Linux: 264 | # etags -a /usr/include/*.h linux/input.h /usr/include/sys/*.h 265 | 266 | etags_MINGW: 267 | # etags -a /usr/include/*.h /usr/include/sys/*.h 268 | 269 | 270 | path: 271 | echo $(PATH) 272 | echo $$PATH 273 | 274 | -------------------------------------------------------------------------------- /examples/StandardFirmata/StandardFirmata.ino: -------------------------------------------------------------------------------- 1 | /* 2 | * Firmata is a generic protocol for communicating with microcontrollers 3 | * from software on a host computer. It is intended to work with 4 | * any host computer software package. 5 | * 6 | * This version is modified to specifically work with Adafruit's BLE 7 | * library. It no longer works over the standard "USB" connection! 8 | */ 9 | 10 | /* 11 | Copyright (C) 2006-2008 Hans-Christoph Steiner. All rights reserved. 12 | Copyright (C) 2010-2011 Paul Stoffregen. All rights reserved. 13 | Copyright (C) 2009 Shigeru Kobayashi. All rights reserved. 14 | Copyright (C) 2009-2011 Jeff Hoefs. All rights reserved. 15 | Copyright (C) 2014 Limor Fried/Kevin Townsend All rights reserved. 16 | 17 | This library is free software; you can redistribute it and/or 18 | modify it under the terms of the GNU Lesser General Public 19 | License as published by the Free Software Foundation; either 20 | version 2.1 of the License, or (at your option) any later version. 21 | 22 | See file LICENSE.txt for further informations on licensing terms. 23 | 24 | formatted using the GNU C formatting and indenting 25 | */ 26 | 27 | /* 28 | * TODO: use Program Control to load stored profiles from EEPROM 29 | */ 30 | 31 | #include 32 | #include 33 | #include 34 | #include 35 | #include "Adafruit_BLE_UART.h" 36 | 37 | #define AUTO_INPUT_PULLUPS true 38 | 39 | // Connect CLK/MISO/MOSI to hardware SPI 40 | // e.g. On UNO & compatible: CLK = 13, MISO = 12, MOSI = 11 41 | #define ADAFRUITBLE_REQ 10 42 | #define ADAFRUITBLE_RDY 2 // This should be an interrupt pin, on Uno thats #2 or #3 43 | #define ADAFRUITBLE_RST 9 44 | 45 | // so we have digital 3-8 and analog 0-6 46 | 47 | Adafruit_BLE_UART BLEserial = Adafruit_BLE_UART(ADAFRUITBLE_REQ, ADAFRUITBLE_RDY, ADAFRUITBLE_RST); 48 | 49 | 50 | // make one instance for the user to use 51 | Adafruit_BLE_FirmataClass BLE_Firmata(BLEserial); 52 | 53 | 54 | /*============================================================================== 55 | * GLOBAL VARIABLES 56 | *============================================================================*/ 57 | 58 | /* analog inputs */ 59 | int analogInputsToReport = 0; // bitwise array to store pin reporting 60 | int lastAnalogReads[NUM_ANALOG_INPUTS]; 61 | 62 | /* digital input ports */ 63 | byte reportPINs[TOTAL_PORTS]; // 1 = report this port, 0 = silence 64 | byte previousPINs[TOTAL_PORTS]; // previous 8 bits sent 65 | 66 | /* pins configuration */ 67 | byte pinConfig[TOTAL_PINS]; // configuration of every pin 68 | byte portConfigInputs[TOTAL_PORTS]; // each bit: 1 = pin in INPUT, 0 = anything else 69 | int pinState[TOTAL_PINS]; // any value that has been written 70 | 71 | /* timer variables */ 72 | unsigned long currentMillis; // store the current value from millis() 73 | unsigned long previousMillis; // for comparison with currentMillis 74 | int samplingInterval = 200; // how often to run the main loop (in ms) 75 | #define MINIMUM_SAMPLE_DELAY 150 76 | #define ANALOG_SAMPLE_DELAY 50 77 | 78 | 79 | /* i2c data */ 80 | struct i2c_device_info { 81 | byte addr; 82 | byte reg; 83 | byte bytes; 84 | }; 85 | 86 | /* for i2c read continuous more */ 87 | i2c_device_info query[MAX_QUERIES]; 88 | 89 | byte i2cRxData[32]; 90 | boolean isI2CEnabled = false; 91 | signed char queryIndex = -1; 92 | unsigned int i2cReadDelayTime = 0; // default delay time between i2c read request and Wire.requestFrom() 93 | 94 | Servo servos[MAX_SERVOS]; 95 | /*============================================================================== 96 | * FUNCTIONS 97 | *============================================================================*/ 98 | 99 | void readAndReportData(byte address, int theRegister, byte numBytes) { 100 | // allow I2C requests that don't require a register read 101 | // for example, some devices using an interrupt pin to signify new data available 102 | // do not always require the register read so upon interrupt you call Wire.requestFrom() 103 | if (theRegister != REGISTER_NOT_SPECIFIED) { 104 | Wire.beginTransmission(address); 105 | #if ARDUINO >= 100 106 | Wire.write((byte)theRegister); 107 | #else 108 | Wire.send((byte)theRegister); 109 | #endif 110 | Wire.endTransmission(); 111 | delayMicroseconds(i2cReadDelayTime); // delay is necessary for some devices such as WiiNunchuck 112 | } else { 113 | theRegister = 0; // fill the register with a dummy value 114 | } 115 | 116 | Wire.requestFrom(address, numBytes); // all bytes are returned in requestFrom 117 | 118 | // check to be sure correct number of bytes were returned by slave 119 | if(numBytes == Wire.available()) { 120 | i2cRxData[0] = address; 121 | i2cRxData[1] = theRegister; 122 | for (int i = 0; i < numBytes; i++) { 123 | #if ARDUINO >= 100 124 | i2cRxData[2 + i] = Wire.read(); 125 | #else 126 | i2cRxData[2 + i] = Wire.receive(); 127 | #endif 128 | } 129 | } 130 | else { 131 | if(numBytes > Wire.available()) { 132 | BLE_Firmata.sendString("I2C Read Error: Too many bytes received"); 133 | } else { 134 | BLE_Firmata.sendString("I2C Read Error: Too few bytes received"); 135 | } 136 | } 137 | 138 | // send slave address, register and received bytes 139 | BLE_Firmata.sendSysex(SYSEX_I2C_REPLY, numBytes + 2, i2cRxData); 140 | } 141 | 142 | void outputPort(byte portNumber, byte portValue, byte forceSend) 143 | { 144 | // pins not configured as INPUT are cleared to zeros 145 | portValue = portValue & portConfigInputs[portNumber]; 146 | // only send if the value is different than previously sent 147 | if(forceSend || previousPINs[portNumber] != portValue) { 148 | Serial.print(F("Sending update for port ")); Serial.print(portNumber); Serial.print(" = 0x"); Serial.println(portValue, HEX); 149 | BLE_Firmata.sendDigitalPort(portNumber, portValue); 150 | previousPINs[portNumber] = portValue; 151 | } 152 | } 153 | 154 | /* ----------------------------------------------------------------------------- 155 | * check all the active digital inputs for change of state, then add any events 156 | * to the Serial output queue using Serial.print() */ 157 | void checkDigitalInputs(boolean forceSend = false) 158 | { 159 | /* Using non-looping code allows constants to be given to readPort(). 160 | * The compiler will apply substantial optimizations if the inputs 161 | * to readPort() are compile-time constants. */ 162 | for (uint8_t i=0; i TOTAL_PINS) lastPin = TOTAL_PINS; 289 | for (pin=port*8; pin < lastPin; pin++) { 290 | // do not disturb non-digital pins (eg, Rx & Tx) 291 | if (IS_PIN_DIGITAL(pin)) { 292 | // only write to OUTPUT and INPUT (enables pullup) 293 | // do not touch pins in PWM, ANALOG, SERVO or other modes 294 | if (pinConfig[pin] == OUTPUT || pinConfig[pin] == INPUT) { 295 | pinWriteMask |= mask; 296 | pinState[pin] = ((byte)value & mask) ? 1 : 0; 297 | 298 | if (AUTO_INPUT_PULLUPS && ( pinConfig[pin] == INPUT)) { 299 | value |= mask; 300 | } 301 | } 302 | } 303 | mask = mask << 1; 304 | } 305 | Serial.print(F("Write digital port #")); Serial.print(port); 306 | Serial.print(F(" = 0x")); Serial.print(value, HEX); 307 | Serial.print(F(" mask = 0x")); Serial.println(pinWriteMask, HEX); 308 | writePort(port, (byte)value, pinWriteMask); 309 | } 310 | } 311 | 312 | 313 | // ----------------------------------------------------------------------------- 314 | /* sets bits in a bit array (int) to toggle the reporting of the analogIns 315 | */ 316 | //void FirmataClass::setAnalogPinReporting(byte pin, byte state) { 317 | //} 318 | void reportAnalogCallback(byte analogPin, int value) 319 | { 320 | if (analogPin < TOTAL_ANALOG_PINS) { 321 | if(value == 0) { 322 | analogInputsToReport = analogInputsToReport &~ (1 << analogPin); 323 | Serial.print(F("Stop reporting analog pin #")); Serial.println(analogPin); 324 | } else { 325 | analogInputsToReport |= (1 << analogPin); 326 | Serial.print(F("Will report analog pin #")); Serial.println(analogPin); 327 | } 328 | } 329 | // TODO: save status to EEPROM here, if changed 330 | } 331 | 332 | void reportDigitalCallback(byte port, int value) 333 | { 334 | if (port < TOTAL_PORTS) { 335 | Serial.print(F("Will report 0x")); Serial.print(value, HEX); Serial.print(F(" digital mask on port ")); Serial.println(port); 336 | reportPINs[port] = (byte)value; 337 | } 338 | // do not disable analog reporting on these 8 pins, to allow some 339 | // pins used for digital, others analog. Instead, allow both types 340 | // of reporting to be enabled, but check if the pin is configured 341 | // as analog when sampling the analog inputs. Likewise, while 342 | // scanning digital pins, portConfigInputs will mask off values from any 343 | // pins configured as analog 344 | } 345 | 346 | /*============================================================================== 347 | * SYSEX-BASED commands 348 | *============================================================================*/ 349 | 350 | void sysexCallback(byte command, byte argc, byte *argv) 351 | { 352 | byte mode; 353 | byte slaveAddress; 354 | byte slaveRegister; 355 | byte data; 356 | unsigned int delayTime; 357 | 358 | switch(command) { 359 | case I2C_REQUEST: 360 | mode = argv[1] & I2C_READ_WRITE_MODE_MASK; 361 | if (argv[1] & I2C_10BIT_ADDRESS_MODE_MASK) { 362 | //BLE_Firmata.sendString("10-bit addressing mode is not yet supported"); 363 | Serial.println(F("10-bit addressing mode is not yet supported")); 364 | return; 365 | } 366 | else { 367 | slaveAddress = argv[0]; 368 | } 369 | 370 | switch(mode) { 371 | case I2C_WRITE: 372 | Wire.beginTransmission(slaveAddress); 373 | for (byte i = 2; i < argc; i += 2) { 374 | data = argv[i] + (argv[i + 1] << 7); 375 | #if ARDUINO >= 100 376 | Wire.write(data); 377 | #else 378 | Wire.send(data); 379 | #endif 380 | } 381 | Wire.endTransmission(); 382 | delayMicroseconds(70); 383 | break; 384 | case I2C_READ: 385 | if (argc == 6) { 386 | // a slave register is specified 387 | slaveRegister = argv[2] + (argv[3] << 7); 388 | data = argv[4] + (argv[5] << 7); // bytes to read 389 | readAndReportData(slaveAddress, (int)slaveRegister, data); 390 | } 391 | else { 392 | // a slave register is NOT specified 393 | data = argv[2] + (argv[3] << 7); // bytes to read 394 | readAndReportData(slaveAddress, (int)REGISTER_NOT_SPECIFIED, data); 395 | } 396 | break; 397 | case I2C_READ_CONTINUOUSLY: 398 | if ((queryIndex + 1) >= MAX_QUERIES) { 399 | // too many queries, just ignore 400 | BLE_Firmata.sendString("too many queries"); 401 | break; 402 | } 403 | queryIndex++; 404 | query[queryIndex].addr = slaveAddress; 405 | query[queryIndex].reg = argv[2] + (argv[3] << 7); 406 | query[queryIndex].bytes = argv[4] + (argv[5] << 7); 407 | break; 408 | case I2C_STOP_READING: 409 | byte queryIndexToSkip; 410 | // if read continuous mode is enabled for only 1 i2c device, disable 411 | // read continuous reporting for that device 412 | if (queryIndex <= 0) { 413 | queryIndex = -1; 414 | } else { 415 | // if read continuous mode is enabled for multiple devices, 416 | // determine which device to stop reading and remove it's data from 417 | // the array, shifiting other array data to fill the space 418 | for (byte i = 0; i < queryIndex + 1; i++) { 419 | if (query[i].addr = slaveAddress) { 420 | queryIndexToSkip = i; 421 | break; 422 | } 423 | } 424 | 425 | for (byte i = queryIndexToSkip; i 0) { 443 | i2cReadDelayTime = delayTime; 444 | } 445 | 446 | if (!isI2CEnabled) { 447 | enableI2CPins(); 448 | } 449 | 450 | break; 451 | case SERVO_CONFIG: 452 | if(argc > 4) { 453 | // these vars are here for clarity, they'll optimized away by the compiler 454 | byte pin = argv[0]; 455 | int minPulse = argv[1] + (argv[2] << 7); 456 | int maxPulse = argv[3] + (argv[4] << 7); 457 | 458 | if (IS_PIN_SERVO(pin)) { 459 | if (servos[PIN_TO_SERVO(pin)].attached()) 460 | servos[PIN_TO_SERVO(pin)].detach(); 461 | servos[PIN_TO_SERVO(pin)].attach(PIN_TO_DIGITAL(pin), minPulse, maxPulse); 462 | setPinModeCallback(pin, SERVO); 463 | } 464 | } 465 | break; 466 | case SAMPLING_INTERVAL: 467 | if (argc > 1) { 468 | samplingInterval = argv[0] + (argv[1] << 7); 469 | if (samplingInterval < MINIMUM_SAMPLING_INTERVAL) { 470 | samplingInterval = MINIMUM_SAMPLING_INTERVAL; 471 | } 472 | } else { 473 | //BLE_Firmata.sendString("Not enough data"); 474 | } 475 | break; 476 | case EXTENDED_ANALOG: 477 | if (argc > 1) { 478 | int val = argv[1]; 479 | if (argc > 2) val |= (argv[2] << 7); 480 | if (argc > 3) val |= (argv[3] << 14); 481 | analogWriteCallback(argv[0], val); 482 | } 483 | break; 484 | case CAPABILITY_QUERY: 485 | Serial.write(START_SYSEX); 486 | Serial.write(CAPABILITY_RESPONSE); 487 | for (byte pin=0; pin < TOTAL_PINS; pin++) { 488 | if (IS_PIN_DIGITAL(pin)) { 489 | Serial.write((byte)INPUT); 490 | Serial.write(1); 491 | Serial.write((byte)OUTPUT); 492 | Serial.write(1); 493 | } 494 | if (IS_PIN_ANALOG(pin)) { 495 | Serial.write(ANALOG); 496 | Serial.write(10); 497 | } 498 | if (IS_PIN_PWM(pin)) { 499 | Serial.write(PWM); 500 | Serial.write(8); 501 | } 502 | if (IS_PIN_SERVO(pin)) { 503 | Serial.write(SERVO); 504 | Serial.write(14); 505 | } 506 | if (IS_PIN_I2C(pin)) { 507 | Serial.write(I2C); 508 | Serial.write(1); // to do: determine appropriate value 509 | } 510 | Serial.write(127); 511 | } 512 | Serial.write(END_SYSEX); 513 | break; 514 | case PIN_STATE_QUERY: 515 | if (argc > 0) { 516 | byte pin=argv[0]; 517 | Serial.write(START_SYSEX); 518 | Serial.write(PIN_STATE_RESPONSE); 519 | Serial.write(pin); 520 | if (pin < TOTAL_PINS) { 521 | Serial.write((byte)pinConfig[pin]); 522 | Serial.write((byte)pinState[pin] & 0x7F); 523 | if (pinState[pin] & 0xFF80) Serial.write((byte)(pinState[pin] >> 7) & 0x7F); 524 | if (pinState[pin] & 0xC000) Serial.write((byte)(pinState[pin] >> 14) & 0x7F); 525 | } 526 | Serial.write(END_SYSEX); 527 | } 528 | break; 529 | case ANALOG_MAPPING_QUERY: 530 | Serial.write(START_SYSEX); 531 | Serial.write(ANALOG_MAPPING_RESPONSE); 532 | for (byte pin=0; pin < TOTAL_PINS; pin++) { 533 | Serial.write(IS_PIN_ANALOG(pin) ? PIN_TO_ANALOG(pin) : 127); 534 | } 535 | Serial.write(END_SYSEX); 536 | break; 537 | } 538 | } 539 | 540 | void enableI2CPins() 541 | { 542 | byte i; 543 | // is there a faster way to do this? would probaby require importing 544 | // Arduino.h to get SCL and SDA pins 545 | for (i=0; i < TOTAL_PINS; i++) { 546 | if(IS_PIN_I2C(i)) { 547 | // mark pins as i2c so they are ignore in non i2c data requests 548 | setPinModeCallback(i, I2C); 549 | } 550 | } 551 | 552 | isI2CEnabled = true; 553 | 554 | // is there enough time before the first I2C request to call this here? 555 | Wire.begin(); 556 | } 557 | 558 | /* disable the i2c pins so they can be used for other functions */ 559 | void disableI2CPins() { 560 | isI2CEnabled = false; 561 | // disable read continuous mode for all devices 562 | queryIndex = -1; 563 | // uncomment the following if or when the end() method is added to Wire library 564 | // Wire.end(); 565 | } 566 | 567 | /*============================================================================== 568 | * SETUP() 569 | *============================================================================*/ 570 | 571 | void systemResetCallback() 572 | { 573 | // initialize a defalt state 574 | Serial.println(F("***RESET***")); 575 | // TODO: option to load config from EEPROM instead of default 576 | if (isI2CEnabled) { 577 | disableI2CPins(); 578 | } 579 | for (byte i=0; i < TOTAL_PORTS; i++) { 580 | reportPINs[i] = false; // by default, reporting off 581 | portConfigInputs[i] = 0; // until activated 582 | previousPINs[i] = 0; 583 | } 584 | // pins with analog capability default to analog input 585 | // otherwise, pins default to digital output 586 | for (byte i=0; i < TOTAL_PINS; i++) { 587 | if (IS_PIN_ANALOG(i)) { 588 | // turns off pullup, configures everything 589 | setPinModeCallback(i, ANALOG); 590 | } else { 591 | // sets the output to 0, configures portConfigInputs 592 | setPinModeCallback(i, INPUT); 593 | } 594 | } 595 | // by default, do not report any analog inputs 596 | analogInputsToReport = 0; 597 | 598 | /* send digital inputs to set the initial state on the host computer, 599 | * since once in the loop(), this firmware will only send on change */ 600 | /* 601 | TODO: this can never execute, since no pins default to digital input 602 | but it will be needed when/if we support EEPROM stored config 603 | for (byte i=0; i < TOTAL_PORTS; i++) { 604 | outputPort(i, readPort(i, portConfigInputs[i]), true); 605 | } 606 | */ 607 | } 608 | 609 | 610 | aci_evt_opcode_t lastBTLEstatus, BTLEstatus; 611 | 612 | void setup() 613 | { 614 | Serial.begin(9600); 615 | Serial.println(F("Adafruit BTLE Firmata test")); 616 | 617 | BLEserial.begin(); 618 | 619 | BTLEstatus = lastBTLEstatus = ACI_EVT_DISCONNECTED; 620 | } 621 | 622 | void firmataInit() { 623 | Serial.println(F("Init firmata")); 624 | //BLE_Firmata.setFirmwareVersion(FIRMATA_MAJOR_VERSION, FIRMATA_MINOR_VERSION); 625 | //Serial.println(F("firmata analog")); 626 | BLE_Firmata.attach(ANALOG_MESSAGE, analogWriteCallback); 627 | //Serial.println(F("firmata digital")); 628 | BLE_Firmata.attach(DIGITAL_MESSAGE, digitalWriteCallback); 629 | //Serial.println(F("firmata analog report")); 630 | BLE_Firmata.attach(REPORT_ANALOG, reportAnalogCallback); 631 | //Serial.println(F("firmata digital report")); 632 | BLE_Firmata.attach(REPORT_DIGITAL, reportDigitalCallback); 633 | //Serial.println(F("firmata pinmode")); 634 | BLE_Firmata.attach(SET_PIN_MODE, setPinModeCallback); 635 | //Serial.println(F("firmata sysex")); 636 | BLE_Firmata.attach(START_SYSEX, sysexCallback); 637 | //Serial.println(F("firmata reset")); 638 | BLE_Firmata.attach(SYSTEM_RESET, systemResetCallback); 639 | 640 | Serial.println(F("Begin firmata")); 641 | BLE_Firmata.begin(); 642 | systemResetCallback(); // reset to default config 643 | } 644 | /*============================================================================== 645 | * LOOP() 646 | *============================================================================*/ 647 | 648 | void loop() 649 | { 650 | // Check the BTLE link, how're we doing? 651 | BLEserial.pollACI(); 652 | // Link status check 653 | BTLEstatus = BLEserial.getState(); 654 | 655 | // Check if something has changed 656 | if (BTLEstatus != lastBTLEstatus) { 657 | // print it out! 658 | if (BTLEstatus == ACI_EVT_DEVICE_STARTED) { 659 | Serial.println(F("* Advertising started")); 660 | } 661 | if (BTLEstatus == ACI_EVT_CONNECTED) { 662 | Serial.println(F("* Connected!")); 663 | // initialize Firmata cleanly 664 | firmataInit(); 665 | } 666 | if (BTLEstatus == ACI_EVT_DISCONNECTED) { 667 | Serial.println(F("* Disconnected or advertising timed out")); 668 | } 669 | // OK set the last status change to this one 670 | lastBTLEstatus = BTLEstatus; 671 | } 672 | 673 | // if not connected... bail 674 | if (BTLEstatus != ACI_EVT_CONNECTED) { 675 | delay(100); 676 | return; 677 | } 678 | 679 | // For debugging, see if there's data on the serial console, we would forwad it to BTLE 680 | if (Serial.available()) { 681 | BLEserial.write(Serial.read()); 682 | } 683 | 684 | // Onto the Firmata main loop 685 | 686 | byte pin, analogPin; 687 | 688 | /* DIGITALREAD - as fast as possible, check for changes and output them to the 689 | * BTLE buffer using Serial.print() */ 690 | checkDigitalInputs(); 691 | 692 | /* SERIALREAD - processing incoming messagse as soon as possible, while still 693 | * checking digital inputs. */ 694 | while(BLE_Firmata.available()) { 695 | //Serial.println(F("*data available*")); 696 | BLE_Firmata.processInput(); 697 | } 698 | /* SEND FTDI WRITE BUFFER - make sure that the FTDI buffer doesn't go over 699 | * 60 bytes. use a timer to sending an event character every 4 ms to 700 | * trigger the buffer to dump. */ 701 | 702 | // make the sampling interval longer if we have more analog inputs! 703 | uint8_t analogreportnums = 0; 704 | for(uint8_t a=0; a<8; a++) { 705 | if (analogInputsToReport & (1 << a)) { 706 | analogreportnums++; 707 | } 708 | } 709 | 710 | samplingInterval = (uint16_t)MINIMUM_SAMPLE_DELAY + (uint16_t)ANALOG_SAMPLE_DELAY * (1+analogreportnums); 711 | 712 | currentMillis = millis(); 713 | if (currentMillis - previousMillis > samplingInterval) { 714 | previousMillis += samplingInterval; 715 | /* ANALOGREAD - do all analogReads() at the configured sampling interval */ 716 | for(pin=0; pin