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1246 lines
44 KiB
1246 lines
44 KiB
5 years ago
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/*
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Circuit Playground Firmata Firmware
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Special version of the Firmata firmware for Adafruit's Circuit Playground
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physical computing board. Based on the StandardFirmata firmware but
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with extensions for the components and sensors on the Circuit Playground
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board (NeoPixels, LIS3DH accelerometer, etc).
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Firmata is a generic protocol for communicating with microcontrollers
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from software on a host computer. It is intended to work with
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any host computer software package.
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To download a host software package, please clink on the following link
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to open the list of Firmata client libraries your default browser.
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https://github.com/firmata/arduino#firmata-client-libraries
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Copyright (C) 2006-2008 Hans-Christoph Steiner. All rights reserved.
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Copyright (C) 2010-2011 Paul Stoffregen. All rights reserved.
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Copyright (C) 2009 Shigeru Kobayashi. All rights reserved.
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Copyright (C) 2009-2015 Jeff Hoefs. All rights reserved.
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Copyright (C) 2016 Tony DiCola. All rights reservered.
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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See file LICENSE.txt for further informations on licensing terms.
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*/
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#include <SPI.h>
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#include <Servo.h>
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#include <Wire.h>
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#include <Adafruit_CircuitPlayground.h>
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// Uncomment below to enable debug output.
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//#define DEBUG_MODE
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// Uncomment below to add a demo mode before USB connect
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#define DEMO_MODE
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// These defines setup debug output if enabled above (otherwise it
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// turns into no-ops that compile out).
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#define DEBUG_OUTPUT Serial1
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#define DEBUG_BAUD 9600
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#ifdef DEBUG_MODE
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#define DEBUG_PRINT(...) { DEBUG_OUTPUT.print(__VA_ARGS__); }
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#define DEBUG_PRINTLN(...) { DEBUG_OUTPUT.println(__VA_ARGS__); }
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#else
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#define DEBUG_PRINT(...) {}
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#define DEBUG_PRINTLN(...) {}
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#endif
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#define I2C_WRITE B00000000
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#define I2C_READ B00001000
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#define I2C_READ_CONTINUOUSLY B00010000
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#define I2C_STOP_READING B00011000
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#define I2C_READ_WRITE_MODE_MASK B00011000
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#define I2C_10BIT_ADDRESS_MODE_MASK B00100000
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#define I2C_MAX_QUERIES 8
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#define I2C_REGISTER_NOT_SPECIFIED -1
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// Circuit playground configuration:
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#define PIXEL_COUNT 10 // Number of NeoPixels on the board.
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#define PIXEL_PIN 17 // Digital pin connected to the NeoPixel signal line.
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#define PIXEL_TYPE NEO_GRB + NEO_KHZ800 // NeoPixel type.
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#define SPEAKER_PIN 5 // Digital pin connected to the speaker.
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#define LIS3DH_ADDR 0x18 // LIS3DH I2C address (not used).
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#define LIS3DH_CS 8 // LIS3DH chip select line.
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#define CAP_COUNT 8 // Number of cap touch inputs.
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#define CAP_COMMON 30 // Digital input as the common cap touch pin.
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#define CAP_SAMPLES 30 // Number of samples to take for a cap touch input.
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// Circuit playground-specific Firmata SysEx commands:
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#define CP_COMMAND 0x40 // Byte that identifies all Circuit Playground commands.
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#define CP_PIXEL_SET 0x10 // Set NeoPixel, expects the following bytes as data:
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// - Pixel ID (0-9)
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// - Pixel RGB color data as 4 7-bit bytes. The upper
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// 24 bits will be mapped to the R, G, B bytes.
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#define CP_PIXEL_SHOW 0x11 // Update NeoPixels with their current color values.
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#define CP_PIXEL_CLEAR 0x12 // Clear all NeoPixels to black/off. Must call show pixels after this to see the change!
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#define CP_PIXEL_BRIGHTNESS 0x13 // Set the brightness of the NeoPixels, just like calling the
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// NeoPixel library setBrightness function. Takes one parameter
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// which is a single byte with a value 0-100.
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#define CP_TONE 0x20 // Play a tone on the speaker, expects the following bytes as data:
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// - Frequency (hz) as 2 7-bit bytes (up to 2^14 hz, or about 16khz)
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// - Duration (ms) as 2 7-bit bytes.
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#define CP_NO_TONE 0x21 // Stop playing anything on the speaker.
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#define CP_ACCEL_READ 0x30 // Return the current x, y, z accelerometer values.
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#define CP_ACCEL_TAP 0x31 // Return the current accelerometer tap state.
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#define CP_ACCEL_READ_REPLY 0x36 // Result of an acceleromete read. Includes 3 floating point values (4 bytes each) with x, y, z
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// acceleration in meters/second^2.
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#define CP_ACCEL_TAP_REPLY 0x37 // Result of the tap sensor read. Includes a byte with the tap register value.
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#define CP_ACCEL_TAP_STREAM_ON 0x38 // Turn on continuous streaming of tap data.
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#define CP_ACCEL_TAP_STREAM_OFF 0x39 // Turn off streaming of tap data.
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#define CP_ACCEL_STREAM_ON 0x3A // Turn on continuous streaming of accelerometer data.
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#define CP_ACCEL_STREAM_OFF 0x3B // Turn off streaming of accelerometer data.
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#define CP_ACCEL_RANGE 0x3C // Set the range of the accelerometer, takes one byte as a parameter.
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// Use a value 0=+/-2G, 1=+/-4G, 2=+/-8G, 3=+/-16G
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#define CP_ACCEL_TAP_CONFIG 0x3D // Set the sensitivity of the tap detection, takes 4 bytes of 7-bit firmata
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// data as parameters which expand to 2 unsigned 8-bit bytes value to set:
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// - Type of click: 0 = no click detection, 1 = single click, 2 = single & double click (default)
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// - Click threshold: 0-255, the higher the value the less sensitive. Depends on the accelerometer
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// range, good values are: +/-16G = 5-10, +/-8G = 10-20, +/-4G = 20-40, +/-2G = 40-80
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// 80 is the default value (goes well with default of +/-2G)
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#define CP_CAP_READ 0x40 // Read a single capacitive input. Expects a byte as a parameter with the
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// cap touch input to read (0, 1, 2, 3, 6, 9, 10, 12). Will respond with a
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// CP_CAP_REPLY message.
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#define CP_CAP_ON 0x41 // Turn on continuous cap touch reads for the specified input (sent as a byte parameter).
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#define CP_CAP_OFF 0x42 // Turn off continuous cap touch reads for the specified input (sent as a byte parameter).
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#define CP_CAP_REPLY 0x43 // Capacitive input read response. Includes a byte with the pin # of the cap input, then
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// four bytes of data which represent an int32_t value read from the cap input.
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#define CP_SENSECOLOR 0x50 // Perform a color sense using the NeoPixel and light sensor.
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#define CP_SENSECOLOR_REPLY 0x51 // Result of a color sense, will return the red, green, blue color
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// values that were read from the light sensor. This will return
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// 6 bytes of data:
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// - red color (unsigned 8 bit value, split across 2 7-bit bytes)
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// - green color (unsigned 8 bit value, split across 2 7-bit bytes)
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// - blue color (unsigned 8 bit value, split across 2 7-bit bytes)
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// the minimum interval for sampling analog input
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#define MINIMUM_SAMPLING_INTERVAL 1
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/*==============================================================================
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* GLOBAL VARIABLES
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*============================================================================*/
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// Circuit playground globals:
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bool streamTap = false;
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bool streamAccel = false;
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// Define type for the cap touch sensor state of each cap touch input.
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typedef struct {
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bool streaming;
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uint8_t pin;
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} cap_state_type;
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cap_state_type cap_state[CAP_COUNT] = {
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{
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.streaming = false,
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.pin = 0
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},
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{
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.streaming = false,
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.pin = 1
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},
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{
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.streaming = false,
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.pin = 2
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},
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{
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.streaming = false,
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.pin = 3
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},
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{
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.streaming = false,
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.pin = 6
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},
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{
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.streaming = false,
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.pin = 9
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},
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{
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.streaming = false,
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.pin = 10
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},
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{
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.streaming = false,
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.pin = 12
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}
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};
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/* analog inputs */
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int analogInputsToReport = 0; // bitwise array to store pin reporting
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/* digital input ports */
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byte reportPINs[TOTAL_PORTS]; // 1 = report this port, 0 = silence
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byte previousPINs[TOTAL_PORTS]; // previous 8 bits sent
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/* pins configuration */
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byte pinConfig[TOTAL_PINS]; // configuration of every pin
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byte portConfigInputs[TOTAL_PORTS]; // each bit: 1 = pin in INPUT, 0 = anything else
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int pinState[TOTAL_PINS]; // any value that has been written
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/* timer variables */
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unsigned long currentMillis; // store the current value from millis()
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unsigned long previousMillis; // for comparison with currentMillis
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unsigned int samplingInterval = 19; // how often to run the main loop (in ms)
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/* i2c data */
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struct i2c_device_info {
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byte addr;
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int reg;
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byte bytes;
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};
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/* for i2c read continuous more */
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i2c_device_info query[I2C_MAX_QUERIES];
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byte i2cRxData[64];
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boolean isI2CEnabled = false;
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signed char queryIndex = -1;
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// default delay time between i2c read request and Wire.requestFrom()
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unsigned int i2cReadDelayTime = 0;
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Servo servos[MAX_SERVOS];
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byte servoPinMap[TOTAL_PINS];
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byte detachedServos[MAX_SERVOS];
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byte detachedServoCount = 0;
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byte servoCount = 0;
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boolean isResetting = false;
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/* utility functions */
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void wireWrite(byte data)
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{
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#if ARDUINO >= 100
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Wire.write((byte)data);
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#else
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Wire.send(data);
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#endif
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}
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byte wireRead(void)
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{
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#if ARDUINO >= 100
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return Wire.read();
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#else
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return Wire.receive();
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#endif
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}
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/*==============================================================================
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* FUNCTIONS
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*============================================================================*/
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void attachServo(byte pin, int minPulse, int maxPulse)
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{
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if (servoCount < MAX_SERVOS) {
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// reuse indexes of detached servos until all have been reallocated
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if (detachedServoCount > 0) {
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servoPinMap[pin] = detachedServos[detachedServoCount - 1];
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if (detachedServoCount > 0) detachedServoCount--;
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} else {
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servoPinMap[pin] = servoCount;
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servoCount++;
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}
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if (minPulse > 0 && maxPulse > 0) {
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servos[servoPinMap[pin]].attach(PIN_TO_DIGITAL(pin), minPulse, maxPulse);
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} else {
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servos[servoPinMap[pin]].attach(PIN_TO_DIGITAL(pin));
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}
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} else {
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Firmata.sendString("Max servos attached");
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}
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}
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void detachServo(byte pin)
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{
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servos[servoPinMap[pin]].detach();
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// if we're detaching the last servo, decrement the count
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// otherwise store the index of the detached servo
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if (servoPinMap[pin] == servoCount && servoCount > 0) {
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servoCount--;
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} else if (servoCount > 0) {
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// keep track of detached servos because we want to reuse their indexes
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// before incrementing the count of attached servos
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detachedServoCount++;
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detachedServos[detachedServoCount - 1] = servoPinMap[pin];
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}
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servoPinMap[pin] = 255;
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}
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void readAndReportData(byte address, int theRegister, byte numBytes) {
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// allow I2C requests that don't require a register read
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// for example, some devices using an interrupt pin to signify new data available
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// do not always require the register read so upon interrupt you call Wire.requestFrom()
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if (theRegister != I2C_REGISTER_NOT_SPECIFIED) {
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Wire.beginTransmission(address);
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wireWrite((byte)theRegister);
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Wire.endTransmission();
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// do not set a value of 0
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if (i2cReadDelayTime > 0) {
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// delay is necessary for some devices such as WiiNunchuck
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delayMicroseconds(i2cReadDelayTime);
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}
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} else {
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theRegister = 0; // fill the register with a dummy value
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}
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Wire.requestFrom(address, numBytes); // all bytes are returned in requestFrom
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// check to be sure correct number of bytes were returned by slave
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if (numBytes < Wire.available()) {
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Firmata.sendString("I2C: Too many bytes received");
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} else if (numBytes > Wire.available()) {
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Firmata.sendString("I2C: Too few bytes received");
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}
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i2cRxData[0] = address;
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i2cRxData[1] = theRegister;
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for (int i = 0; i < numBytes && Wire.available(); i++) {
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i2cRxData[2 + i] = wireRead();
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}
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// send slave address, register and received bytes
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Firmata.sendSysex(SYSEX_I2C_REPLY, numBytes + 2, i2cRxData);
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}
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void outputPort(byte portNumber, byte portValue, byte forceSend)
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{
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// pins not configured as INPUT are cleared to zeros
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portValue = portValue & portConfigInputs[portNumber];
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// only send if the value is different than previously sent
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if (forceSend || previousPINs[portNumber] != portValue) {
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Firmata.sendDigitalPort(portNumber, portValue);
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previousPINs[portNumber] = portValue;
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}
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}
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/* -----------------------------------------------------------------------------
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||
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* check all the active digital inputs for change of state, then add any events
|
||
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* to the Serial output queue using Serial.print() */
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||
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void checkDigitalInputs(void)
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{
|
||
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/* Using non-looping code allows constants to be given to readPort().
|
||
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* The compiler will apply substantial optimizations if the inputs
|
||
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* to readPort() are compile-time constants. */
|
||
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if (TOTAL_PORTS > 0 && reportPINs[0]) outputPort(0, readPort(0, portConfigInputs[0]), false);
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if (TOTAL_PORTS > 1 && reportPINs[1]) outputPort(1, readPort(1, portConfigInputs[1]), false);
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if (TOTAL_PORTS > 2 && reportPINs[2]) outputPort(2, readPort(2, portConfigInputs[2]), false);
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if (TOTAL_PORTS > 3 && reportPINs[3]) outputPort(3, readPort(3, portConfigInputs[3]), false);
|
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if (TOTAL_PORTS > 4 && reportPINs[4]) outputPort(4, readPort(4, portConfigInputs[4]), false);
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|
if (TOTAL_PORTS > 5 && reportPINs[5]) outputPort(5, readPort(5, portConfigInputs[5]), false);
|
||
|
|
if (TOTAL_PORTS > 6 && reportPINs[6]) outputPort(6, readPort(6, portConfigInputs[6]), false);
|
||
|
|
if (TOTAL_PORTS > 7 && reportPINs[7]) outputPort(7, readPort(7, portConfigInputs[7]), false);
|
||
|
|
if (TOTAL_PORTS > 8 && reportPINs[8]) outputPort(8, readPort(8, portConfigInputs[8]), false);
|
||
|
|
if (TOTAL_PORTS > 9 && reportPINs[9]) outputPort(9, readPort(9, portConfigInputs[9]), false);
|
||
|
|
if (TOTAL_PORTS > 10 && reportPINs[10]) outputPort(10, readPort(10, portConfigInputs[10]), false);
|
||
|
|
if (TOTAL_PORTS > 11 && reportPINs[11]) outputPort(11, readPort(11, portConfigInputs[11]), false);
|
||
|
|
if (TOTAL_PORTS > 12 && reportPINs[12]) outputPort(12, readPort(12, portConfigInputs[12]), false);
|
||
|
|
if (TOTAL_PORTS > 13 && reportPINs[13]) outputPort(13, readPort(13, portConfigInputs[13]), false);
|
||
|
|
if (TOTAL_PORTS > 14 && reportPINs[14]) outputPort(14, readPort(14, portConfigInputs[14]), false);
|
||
|
|
if (TOTAL_PORTS > 15 && reportPINs[15]) outputPort(15, readPort(15, portConfigInputs[15]), false);
|
||
|
|
}
|
||
|
|
|
||
|
|
// -----------------------------------------------------------------------------
|
||
|
|
/* sets the pin mode to the correct state and sets the relevant bits in the
|
||
|
|
* two bit-arrays that track Digital I/O and PWM status
|
||
|
|
*/
|
||
|
|
void setPinModeCallback(byte pin, int mode)
|
||
|
|
{
|
||
|
|
if (pinConfig[pin] == PIN_MODE_IGNORE)
|
||
|
|
return;
|
||
|
|
|
||
|
|
if (pinConfig[pin] == PIN_MODE_I2C && isI2CEnabled && mode != PIN_MODE_I2C) {
|
||
|
|
// disable i2c so pins can be used for other functions
|
||
|
|
// the following if statements should reconfigure the pins properly
|
||
|
|
disableI2CPins();
|
||
|
|
}
|
||
|
|
if (IS_PIN_DIGITAL(pin) && mode != PIN_MODE_SERVO) {
|
||
|
|
if (servoPinMap[pin] < MAX_SERVOS && servos[servoPinMap[pin]].attached()) {
|
||
|
|
detachServo(pin);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
if (IS_PIN_ANALOG(pin)) {
|
||
|
|
reportAnalogCallback(PIN_TO_ANALOG(pin), mode == PIN_MODE_ANALOG ? 1 : 0); // turn on/off reporting
|
||
|
|
}
|
||
|
|
if (IS_PIN_DIGITAL(pin)) {
|
||
|
|
if (mode == INPUT || mode == PIN_MODE_PULLUP) {
|
||
|
|
portConfigInputs[pin / 8] |= (1 << (pin & 7));
|
||
|
|
} else {
|
||
|
|
portConfigInputs[pin / 8] &= ~(1 << (pin & 7));
|
||
|
|
}
|
||
|
|
}
|
||
|
|
pinState[pin] = 0;
|
||
|
|
switch (mode) {
|
||
|
|
case PIN_MODE_ANALOG:
|
||
|
|
if (IS_PIN_ANALOG(pin)) {
|
||
|
|
if (IS_PIN_DIGITAL(pin)) {
|
||
|
|
pinMode(PIN_TO_DIGITAL(pin), INPUT); // disable output driver
|
||
|
|
#if ARDUINO <= 100
|
||
|
|
// deprecated since Arduino 1.0.1 - TODO: drop support in Firmata 2.6
|
||
|
|
digitalWrite(PIN_TO_DIGITAL(pin), LOW); // disable internal pull-ups
|
||
|
|
#endif
|
||
|
|
}
|
||
|
|
pinConfig[pin] = PIN_MODE_ANALOG;
|
||
|
|
}
|
||
|
|
break;
|
||
|
|
case INPUT:
|
||
|
|
if (IS_PIN_DIGITAL(pin)) {
|
||
|
|
pinMode(PIN_TO_DIGITAL(pin), INPUT); // disable output driver
|
||
|
|
#if ARDUINO <= 100
|
||
|
|
// deprecated since Arduino 1.0.1 - TODO: drop support in Firmata 2.6
|
||
|
|
digitalWrite(PIN_TO_DIGITAL(pin), LOW); // disable internal pull-ups
|
||
|
|
#endif
|
||
|
|
pinConfig[pin] = INPUT;
|
||
|
|
}
|
||
|
|
break;
|
||
|
|
case PIN_MODE_PULLUP:
|
||
|
|
if (IS_PIN_DIGITAL(pin)) {
|
||
|
|
pinMode(PIN_TO_DIGITAL(pin), INPUT_PULLUP);
|
||
|
|
pinConfig[pin] = PIN_MODE_PULLUP;
|
||
|
|
pinState[pin] = 1;
|
||
|
|
}
|
||
|
|
break;
|
||
|
|
case OUTPUT:
|
||
|
|
if (IS_PIN_DIGITAL(pin)) {
|
||
|
|
digitalWrite(PIN_TO_DIGITAL(pin), LOW); // disable PWM
|
||
|
|
pinMode(PIN_TO_DIGITAL(pin), OUTPUT);
|
||
|
|
pinConfig[pin] = OUTPUT;
|
||
|
|
}
|
||
|
|
break;
|
||
|
|
case PIN_MODE_PWM:
|
||
|
|
if (IS_PIN_PWM(pin)) {
|
||
|
|
pinMode(PIN_TO_PWM(pin), OUTPUT);
|
||
|
|
analogWrite(PIN_TO_PWM(pin), 0);
|
||
|
|
pinConfig[pin] = PIN_MODE_PWM;
|
||
|
|
}
|
||
|
|
break;
|
||
|
|
case PIN_MODE_SERVO:
|
||
|
|
if (IS_PIN_DIGITAL(pin)) {
|
||
|
|
pinConfig[pin] = PIN_MODE_SERVO;
|
||
|
|
if (servoPinMap[pin] == 255 || !servos[servoPinMap[pin]].attached()) {
|
||
|
|
// pass -1 for min and max pulse values to use default values set
|
||
|
|
// by Servo library
|
||
|
|
attachServo(pin, -1, -1);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
break;
|
||
|
|
case PIN_MODE_I2C:
|
||
|
|
if (IS_PIN_I2C(pin)) {
|
||
|
|
// mark the pin as i2c
|
||
|
|
// the user must call I2C_CONFIG to enable I2C for a device
|
||
|
|
pinConfig[pin] = PIN_MODE_I2C;
|
||
|
|
}
|
||
|
|
break;
|
||
|
|
default:
|
||
|
|
Firmata.sendString("Unknown pin mode"); // TODO: put error msgs in EEPROM
|
||
|
|
}
|
||
|
|
// TODO: save status to EEPROM here, if changed
|
||
|
|
}
|
||
|
|
|
||
|
|
/*
|
||
|
|
* Sets the value of an individual pin. Useful if you want to set a pin value but
|
||
|
|
* are not tracking the digital port state.
|
||
|
|
* Can only be used on pins configured as OUTPUT.
|
||
|
|
* Cannot be used to enable pull-ups on Digital INPUT pins.
|
||
|
|
*/
|
||
|
|
void setPinValueCallback(byte pin, int value)
|
||
|
|
{
|
||
|
|
if (pin < TOTAL_PINS && IS_PIN_DIGITAL(pin)) {
|
||
|
|
if (pinConfig[pin] == OUTPUT) {
|
||
|
|
pinState[pin] = value;
|
||
|
|
digitalWrite(PIN_TO_DIGITAL(pin), value);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
void analogWriteCallback(byte pin, int value)
|
||
|
|
{
|
||
|
|
if (pin < TOTAL_PINS) {
|
||
|
|
switch (pinConfig[pin]) {
|
||
|
|
case PIN_MODE_SERVO:
|
||
|
|
if (IS_PIN_DIGITAL(pin))
|
||
|
|
servos[servoPinMap[pin]].write(value);
|
||
|
|
pinState[pin] = value;
|
||
|
|
break;
|
||
|
|
case PIN_MODE_PWM:
|
||
|
|
if (IS_PIN_PWM(pin))
|
||
|
|
analogWrite(PIN_TO_PWM(pin), value);
|
||
|
|
pinState[pin] = value;
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
void digitalWriteCallback(byte port, int value)
|
||
|
|
{
|
||
|
|
byte pin, lastPin, pinValue, mask = 1, pinWriteMask = 0;
|
||
|
|
|
||
|
|
if (port < TOTAL_PORTS) {
|
||
|
|
// create a mask of the pins on this port that are writable.
|
||
|
|
lastPin = port * 8 + 8;
|
||
|
|
if (lastPin > TOTAL_PINS) lastPin = TOTAL_PINS;
|
||
|
|
for (pin = port * 8; pin < lastPin; pin++) {
|
||
|
|
// do not disturb non-digital pins (eg, Rx & Tx)
|
||
|
|
if (IS_PIN_DIGITAL(pin)) {
|
||
|
|
// do not touch pins in PWM, ANALOG, SERVO or other modes
|
||
|
|
if (pinConfig[pin] == OUTPUT || pinConfig[pin] == INPUT) {
|
||
|
|
pinValue = ((byte)value & mask) ? 1 : 0;
|
||
|
|
if (pinConfig[pin] == OUTPUT) {
|
||
|
|
pinWriteMask |= mask;
|
||
|
|
} else if (pinConfig[pin] == INPUT && pinValue == 1 && pinState[pin] != 1) {
|
||
|
|
// only handle INPUT here for backwards compatibility
|
||
|
|
#if ARDUINO > 100
|
||
|
|
pinMode(pin, INPUT_PULLUP);
|
||
|
|
#else
|
||
|
|
// only write to the INPUT pin to enable pullups if Arduino v1.0.0 or earlier
|
||
|
|
pinWriteMask |= mask;
|
||
|
|
#endif
|
||
|
|
}
|
||
|
|
pinState[pin] = pinValue;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
mask = mask << 1;
|
||
|
|
}
|
||
|
|
writePort(port, (byte)value, pinWriteMask);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
// -----------------------------------------------------------------------------
|
||
|
|
/* sets bits in a bit array (int) to toggle the reporting of the analogIns
|
||
|
|
*/
|
||
|
|
//void FirmataClass::setAnalogPinReporting(byte pin, byte state) {
|
||
|
|
//}
|
||
|
|
void reportAnalogCallback(byte analogPin, int value)
|
||
|
|
{
|
||
|
|
if (analogPin < TOTAL_ANALOG_PINS) {
|
||
|
|
if (value == 0) {
|
||
|
|
analogInputsToReport = analogInputsToReport & ~ (1 << analogPin);
|
||
|
|
} else {
|
||
|
|
analogInputsToReport = analogInputsToReport | (1 << analogPin);
|
||
|
|
// prevent during system reset or all analog pin values will be reported
|
||
|
|
// which may report noise for unconnected analog pins
|
||
|
|
if (!isResetting) {
|
||
|
|
// Send pin value immediately. This is helpful when connected via
|
||
|
|
// ethernet, wi-fi or bluetooth so pin states can be known upon
|
||
|
|
// reconnecting.
|
||
|
|
Firmata.sendAnalog(analogPin, analogRead(analogPin));
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
// TODO: save status to EEPROM here, if changed
|
||
|
|
}
|
||
|
|
|
||
|
|
void reportDigitalCallback(byte port, int value)
|
||
|
|
{
|
||
|
|
if (port < TOTAL_PORTS) {
|
||
|
|
reportPINs[port] = (byte)value;
|
||
|
|
// Send port value immediately. This is helpful when connected via
|
||
|
|
// ethernet, wi-fi or bluetooth so pin states can be known upon
|
||
|
|
// reconnecting.
|
||
|
|
if (value) outputPort(port, readPort(port, portConfigInputs[port]), true);
|
||
|
|
}
|
||
|
|
// do not disable analog reporting on these 8 pins, to allow some
|
||
|
|
// pins used for digital, others analog. Instead, allow both types
|
||
|
|
// of reporting to be enabled, but check if the pin is configured
|
||
|
|
// as analog when sampling the analog inputs. Likewise, while
|
||
|
|
// scanning digital pins, portConfigInputs will mask off values from any
|
||
|
|
// pins configured as analog
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
/*==============================================================================
|
||
|
|
* Circuit Playground commands
|
||
|
|
*============================================================================*/
|
||
|
|
|
||
|
|
void circuitPlaygroundCommand(byte command, byte argc, byte* argv) {
|
||
|
|
switch (command) {
|
||
|
|
case CP_PIXEL_SET:
|
||
|
|
// Set a NeoPixel to the specified RGB color.
|
||
|
|
// Expect: 1 byte pixel number, 4 bytes pixel RGB value (as 7-bit bytes)
|
||
|
|
if (argc >= 5) {
|
||
|
|
// Parse out the pixel number and R, G, B bytes.
|
||
|
|
uint8_t pixel = argv[0] & 0x7F;
|
||
|
|
uint8_t r = (argv[1] << 1) | ((argv[2] & 0x7F) >> 6); // Red = 7 bits from byte 4 and 1 bit from byte 5
|
||
|
|
uint8_t g = ((argv[2] & 0x3F) << 2) | (((argv[3]) & 0x7F) >> 5); // Green = 6 bits from byte 5 and 2 bits from byte 6
|
||
|
|
uint8_t b = ((argv[3] & 0x1F) << 3) | (((argv[4]) & 0x7F) >> 4); // Blue = 5 bits from byte 6 and 3 bits from byte 7
|
||
|
|
CircuitPlayground.strip.setPixelColor(pixel, r, g, b);
|
||
|
|
}
|
||
|
|
break;
|
||
|
|
case CP_PIXEL_SHOW:
|
||
|
|
// Light up the neopixels with their current buffer values.
|
||
|
|
CircuitPlayground.strip.show();
|
||
|
|
break;
|
||
|
|
case CP_PIXEL_CLEAR:
|
||
|
|
// Clear all the pixel color values.
|
||
|
|
CircuitPlayground.strip.clear();
|
||
|
|
break;
|
||
|
|
case CP_PIXEL_BRIGHTNESS:
|
||
|
|
// Set pixel brightness.
|
||
|
|
// Expects 1 byte with the brightness as a value 0-100.
|
||
|
|
if (argc >= 1) {
|
||
|
|
uint8_t brightness = argv[0];
|
||
|
|
if (brightness > 100) {
|
||
|
|
return;
|
||
|
|
}
|
||
|
|
CircuitPlayground.strip.setBrightness(brightness);
|
||
|
|
}
|
||
|
|
case CP_TONE:
|
||
|
|
// Play a tone on the speaker.
|
||
|
|
// Expect: 2 bytes tone frequency, 2 bytes tone duration
|
||
|
|
if (argc >= 4) {
|
||
|
|
uint16_t frequency = ((argv[1] & 0x7F) << 7) | (argv[0] & 0x7F);
|
||
|
|
uint16_t duration = ((argv[3] & 0x7F) << 7) | (argv[2] & 0x7F);
|
||
|
|
// If duration is zero then interpret that as continuous tone playback.
|
||
|
|
if (duration == 0) {
|
||
|
|
tone(SPEAKER_PIN, frequency);
|
||
|
|
}
|
||
|
|
else {
|
||
|
|
tone(SPEAKER_PIN, frequency, duration);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
break;
|
||
|
|
case CP_NO_TONE:
|
||
|
|
// Stop tone playback.
|
||
|
|
noTone(SPEAKER_PIN);
|
||
|
|
break;
|
||
|
|
case CP_ACCEL_READ:
|
||
|
|
sendAccelResponse();
|
||
|
|
break;
|
||
|
|
case CP_ACCEL_TAP:
|
||
|
|
sendTapResponse();
|
||
|
|
break;
|
||
|
|
case CP_ACCEL_TAP_STREAM_ON:
|
||
|
|
streamTap = true;
|
||
|
|
break;
|
||
|
|
case CP_ACCEL_TAP_STREAM_OFF:
|
||
|
|
streamTap = false;
|
||
|
|
break;
|
||
|
|
case CP_ACCEL_STREAM_ON:
|
||
|
|
streamAccel = true;
|
||
|
|
break;
|
||
|
|
case CP_ACCEL_STREAM_OFF:
|
||
|
|
streamAccel = false;
|
||
|
|
break;
|
||
|
|
case CP_CAP_READ:
|
||
|
|
// Flip the streaming bool on for the specified input.
|
||
|
|
// First check we have enough parameters and grab the input from the first byte.
|
||
|
|
if (argc >= 1) {
|
||
|
|
uint8_t input = argv[0] & 0x7F;
|
||
|
|
// Now find the specified cap input and send a response with its current cap touch value.
|
||
|
|
for (int i=0; i<CAP_COUNT; ++i) {
|
||
|
|
if (cap_state[i].pin == input) {
|
||
|
|
sendCapResponse(input);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
break;
|
||
|
|
case CP_CAP_ON:
|
||
|
|
// Flip the streaming bool on for the specified input.
|
||
|
|
// First check we have enough parameters and grab the input from the first byte.
|
||
|
|
if (argc >= 1) {
|
||
|
|
uint8_t input = argv[0] & 0x7F;
|
||
|
|
// Now find the specified cap input and flip on its streaming bit.
|
||
|
|
for (int i=0; i<CAP_COUNT; ++i) {
|
||
|
|
if (cap_state[i].pin == input) {
|
||
|
|
cap_state[i].streaming = true;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
break;
|
||
|
|
case CP_CAP_OFF:
|
||
|
|
// Flip the streaming bool off for the specified input.
|
||
|
|
// First check we have enough parameters and grab the input from the first byte.
|
||
|
|
if (argc >= 1) {
|
||
|
|
uint8_t input = argv[0] & 0x7F;
|
||
|
|
// Now find the specified cap input and flip on its streaming bit.
|
||
|
|
for (int i=0; i<CAP_COUNT; ++i) {
|
||
|
|
if (cap_state[i].pin == input) {
|
||
|
|
cap_state[i].streaming = false;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
break;
|
||
|
|
case CP_ACCEL_RANGE:
|
||
|
|
// Set the range of the accelerometer based on the passed in value.
|
||
|
|
// First check we have enough parameters and grab the input from the first byte.
|
||
|
|
if (argc >= 1) {
|
||
|
|
uint8_t range = argv[0] & 0x7F;
|
||
|
|
// Check the range is an allowed value (0, 1, 2, 3).
|
||
|
|
if (range > 3) {
|
||
|
|
// Unknown range value, stop processing!
|
||
|
|
return;
|
||
|
|
}
|
||
|
|
// Set the range of the accelerometer.
|
||
|
|
CircuitPlayground.lis.setRange((lis3dh_range_t)range);
|
||
|
|
}
|
||
|
|
break;
|
||
|
|
case CP_ACCEL_TAP_CONFIG:
|
||
|
|
// Set the sensitivity of tap detection.
|
||
|
|
// Expects 4 7-bit firmata bytes as input, which expand to 2 bytes of 8-bit unsigned data.
|
||
|
|
// First check we have enough parameters.
|
||
|
|
if (argc >= 4) {
|
||
|
|
// Parse out paramemters.
|
||
|
|
uint8_t type = ((argv[1] & 0x01) << 7) | (argv[0] & 0x7F);
|
||
|
|
uint8_t threshold = ((argv[3] & 0x01) << 7) | (argv[2] & 0x7F);
|
||
|
|
// Set the click threshold values.
|
||
|
|
CircuitPlayground.lis.setClick(type, threshold);
|
||
|
|
}
|
||
|
|
case CP_SENSECOLOR:
|
||
|
|
// Sense the color of an object over the light sensor and send back
|
||
|
|
// a CP_SENSECOLOR_REPLY response.
|
||
|
|
sendColorSenseResponse();
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
// Send a color sense response back to the host computer.
|
||
|
|
void sendColorSenseResponse() {
|
||
|
|
// Perform a color sense with NeoPixel #1 and the light sensor.
|
||
|
|
uint8_t red, green, blue;
|
||
|
|
CircuitPlayground.senseColor(red, green, blue);
|
||
|
|
// Construct a response data packet and send it.
|
||
|
|
uint8_t data[4] = {0};
|
||
|
|
data[0] = CP_SENSECOLOR_REPLY;
|
||
|
|
data[1] = red;
|
||
|
|
data[2] = green;
|
||
|
|
data[3] = blue;
|
||
|
|
// Send the response.
|
||
|
|
Firmata.sendSysex(CP_COMMAND, 4, data);
|
||
|
|
}
|
||
|
|
|
||
|
|
// Read the accelerometer and send a response packet.
|
||
|
|
void sendAccelResponse() {
|
||
|
|
// Get an accelerometer X, Y, Z reading.
|
||
|
|
sensors_event_t event;
|
||
|
|
CircuitPlayground.lis.getEvent(&event);
|
||
|
|
// Construct a response data packet.
|
||
|
|
uint8_t data[13] = {0};
|
||
|
|
data[0] = CP_ACCEL_READ_REPLY;
|
||
|
|
// Put the three 32-bit float X,Y,Z reading into the packet.
|
||
|
|
// Note that Firmata.sendSysex will automatically convert bytes into
|
||
|
|
// two 7-bit bytes that are Firmata/MIDI compatible.
|
||
|
|
// Use a union to easily grab the bytes of the float.
|
||
|
|
union {
|
||
|
|
float value;
|
||
|
|
uint8_t bytes[4];
|
||
|
|
} reading;
|
||
|
|
// Grab each X, Y, Z float byte value and copy it into the response.
|
||
|
|
reading.value = event.acceleration.x;
|
||
|
|
memcpy(data+1, reading.bytes, 4);
|
||
|
|
reading.value = event.acceleration.y;
|
||
|
|
memcpy(data+5, reading.bytes, 4);
|
||
|
|
reading.value = event.acceleration.z;
|
||
|
|
memcpy(data+9, reading.bytes, 4);
|
||
|
|
// Send the response.
|
||
|
|
Firmata.sendSysex(CP_COMMAND, 13, data);
|
||
|
|
}
|
||
|
|
|
||
|
|
// Read the accelerometer tap detection and send a response packet.
|
||
|
|
void sendTapResponse() {
|
||
|
|
// Get the accelerometer tap detection state.
|
||
|
|
uint8_t click = CircuitPlayground.lis.getClick();
|
||
|
|
// Construct a response data packet and send it.
|
||
|
|
uint8_t data[2] = {0};
|
||
|
|
data[0] = CP_ACCEL_TAP_REPLY;
|
||
|
|
data[1] = click;
|
||
|
|
// Send the response.
|
||
|
|
Firmata.sendSysex(CP_COMMAND, 2, data);
|
||
|
|
}
|
||
|
|
|
||
|
|
// Read the capacitive sensor state and send a response packet.
|
||
|
|
void sendCapResponse(uint8_t pin) {
|
||
|
|
// Get the cap sense value for the provided input pin.
|
||
|
|
int32_t value = CircuitPlayground.readCap(pin, CAP_SAMPLES);
|
||
|
|
// Build a response data packet and send it. The response includes:
|
||
|
|
// - uint8_t: CP_CAP_REPLY value
|
||
|
|
// - uint8_t: pin number of the read input
|
||
|
|
// - int32_t: cap sensor value, large values mean the input was touched
|
||
|
|
union {
|
||
|
|
struct {
|
||
|
|
uint8_t type;
|
||
|
|
uint8_t pin;
|
||
|
|
int32_t value;
|
||
|
|
} data;
|
||
|
|
uint8_t bytes[6];
|
||
|
|
} response;
|
||
|
|
response.data.type = CP_CAP_REPLY;
|
||
|
|
response.data.pin = pin;
|
||
|
|
response.data.value = value;
|
||
|
|
// Send the response, this will expand each byte into 2 bytes of 7-bit data.
|
||
|
|
Firmata.sendSysex(CP_COMMAND, 6, response.bytes);
|
||
|
|
}
|
||
|
|
|
||
|
|
/*==============================================================================
|
||
|
|
* SYSEX-BASED commands
|
||
|
|
*============================================================================*/
|
||
|
|
|
||
|
|
void sysexCallback(byte command, byte argc, byte *argv)
|
||
|
|
{
|
||
|
|
byte mode;
|
||
|
|
byte slaveAddress;
|
||
|
|
byte data;
|
||
|
|
int slaveRegister;
|
||
|
|
unsigned int delayTime;
|
||
|
|
|
||
|
|
switch (command) {
|
||
|
|
// Circuit playground command processing:
|
||
|
|
case CP_COMMAND:
|
||
|
|
if (argc < 1) return;
|
||
|
|
circuitPlaygroundCommand(argv[0], argc-1, argv+1);
|
||
|
|
break;
|
||
|
|
case I2C_REQUEST:
|
||
|
|
mode = argv[1] & I2C_READ_WRITE_MODE_MASK;
|
||
|
|
if (argv[1] & I2C_10BIT_ADDRESS_MODE_MASK) {
|
||
|
|
Firmata.sendString("10-bit addressing not supported");
|
||
|
|
return;
|
||
|
|
}
|
||
|
|
else {
|
||
|
|
slaveAddress = argv[0];
|
||
|
|
}
|
||
|
|
|
||
|
|
switch (mode) {
|
||
|
|
case I2C_WRITE:
|
||
|
|
Wire.beginTransmission(slaveAddress);
|
||
|
|
for (byte i = 2; i < argc; i += 2) {
|
||
|
|
data = argv[i] + (argv[i + 1] << 7);
|
||
|
|
wireWrite(data);
|
||
|
|
}
|
||
|
|
Wire.endTransmission();
|
||
|
|
delayMicroseconds(70);
|
||
|
|
break;
|
||
|
|
case I2C_READ:
|
||
|
|
if (argc == 6) {
|
||
|
|
// a slave register is specified
|
||
|
|
slaveRegister = argv[2] + (argv[3] << 7);
|
||
|
|
data = argv[4] + (argv[5] << 7); // bytes to read
|
||
|
|
}
|
||
|
|
else {
|
||
|
|
// a slave register is NOT specified
|
||
|
|
slaveRegister = I2C_REGISTER_NOT_SPECIFIED;
|
||
|
|
data = argv[2] + (argv[3] << 7); // bytes to read
|
||
|
|
}
|
||
|
|
readAndReportData(slaveAddress, (int)slaveRegister, data);
|
||
|
|
break;
|
||
|
|
case I2C_READ_CONTINUOUSLY:
|
||
|
|
if ((queryIndex + 1) >= I2C_MAX_QUERIES) {
|
||
|
|
// too many queries, just ignore
|
||
|
|
Firmata.sendString("too many queries");
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
if (argc == 6) {
|
||
|
|
// a slave register is specified
|
||
|
|
slaveRegister = argv[2] + (argv[3] << 7);
|
||
|
|
data = argv[4] + (argv[5] << 7); // bytes to read
|
||
|
|
}
|
||
|
|
else {
|
||
|
|
// a slave register is NOT specified
|
||
|
|
slaveRegister = (int)I2C_REGISTER_NOT_SPECIFIED;
|
||
|
|
data = argv[2] + (argv[3] << 7); // bytes to read
|
||
|
|
}
|
||
|
|
queryIndex++;
|
||
|
|
query[queryIndex].addr = slaveAddress;
|
||
|
|
query[queryIndex].reg = slaveRegister;
|
||
|
|
query[queryIndex].bytes = data;
|
||
|
|
break;
|
||
|
|
case I2C_STOP_READING:
|
||
|
|
byte queryIndexToSkip;
|
||
|
|
// if read continuous mode is enabled for only 1 i2c device, disable
|
||
|
|
// read continuous reporting for that device
|
||
|
|
if (queryIndex <= 0) {
|
||
|
|
queryIndex = -1;
|
||
|
|
} else {
|
||
|
|
// if read continuous mode is enabled for multiple devices,
|
||
|
|
// determine which device to stop reading and remove it's data from
|
||
|
|
// the array, shifiting other array data to fill the space
|
||
|
|
for (byte i = 0; i < queryIndex + 1; i++) {
|
||
|
|
if (query[i].addr == slaveAddress) {
|
||
|
|
queryIndexToSkip = i;
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
for (byte i = queryIndexToSkip; i < queryIndex + 1; i++) {
|
||
|
|
if (i < I2C_MAX_QUERIES) {
|
||
|
|
query[i].addr = query[i + 1].addr;
|
||
|
|
query[i].reg = query[i + 1].reg;
|
||
|
|
query[i].bytes = query[i + 1].bytes;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
queryIndex--;
|
||
|
|
}
|
||
|
|
break;
|
||
|
|
default:
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
break;
|
||
|
|
case I2C_CONFIG:
|
||
|
|
delayTime = (argv[0] + (argv[1] << 7));
|
||
|
|
|
||
|
|
if (delayTime > 0) {
|
||
|
|
i2cReadDelayTime = delayTime;
|
||
|
|
}
|
||
|
|
|
||
|
|
if (!isI2CEnabled) {
|
||
|
|
enableI2CPins();
|
||
|
|
}
|
||
|
|
|
||
|
|
break;
|
||
|
|
case SERVO_CONFIG:
|
||
|
|
if (argc > 4) {
|
||
|
|
// these vars are here for clarity, they'll optimized away by the compiler
|
||
|
|
byte pin = argv[0];
|
||
|
|
int minPulse = argv[1] + (argv[2] << 7);
|
||
|
|
int maxPulse = argv[3] + (argv[4] << 7);
|
||
|
|
|
||
|
|
if (IS_PIN_DIGITAL(pin)) {
|
||
|
|
if (servoPinMap[pin] < MAX_SERVOS && servos[servoPinMap[pin]].attached()) {
|
||
|
|
detachServo(pin);
|
||
|
|
}
|
||
|
|
attachServo(pin, minPulse, maxPulse);
|
||
|
|
setPinModeCallback(pin, PIN_MODE_SERVO);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
break;
|
||
|
|
case SAMPLING_INTERVAL:
|
||
|
|
if (argc > 1) {
|
||
|
|
samplingInterval = argv[0] + (argv[1] << 7);
|
||
|
|
if (samplingInterval < MINIMUM_SAMPLING_INTERVAL) {
|
||
|
|
samplingInterval = MINIMUM_SAMPLING_INTERVAL;
|
||
|
|
}
|
||
|
|
} else {
|
||
|
|
//Firmata.sendString("Not enough data");
|
||
|
|
}
|
||
|
|
break;
|
||
|
|
case EXTENDED_ANALOG:
|
||
|
|
if (argc > 1) {
|
||
|
|
int val = argv[1];
|
||
|
|
if (argc > 2) val |= (argv[2] << 7);
|
||
|
|
if (argc > 3) val |= (argv[3] << 14);
|
||
|
|
analogWriteCallback(argv[0], val);
|
||
|
|
}
|
||
|
|
break;
|
||
|
|
case CAPABILITY_QUERY:
|
||
|
|
Firmata.write(START_SYSEX);
|
||
|
|
Firmata.write(CAPABILITY_RESPONSE);
|
||
|
|
for (byte pin = 0; pin < TOTAL_PINS; pin++) {
|
||
|
|
if (IS_PIN_DIGITAL(pin)) {
|
||
|
|
Firmata.write((byte)INPUT);
|
||
|
|
Firmata.write(1);
|
||
|
|
Firmata.write((byte)PIN_MODE_PULLUP);
|
||
|
|
Firmata.write(1);
|
||
|
|
Firmata.write((byte)OUTPUT);
|
||
|
|
Firmata.write(1);
|
||
|
|
}
|
||
|
|
if (IS_PIN_ANALOG(pin)) {
|
||
|
|
Firmata.write(PIN_MODE_ANALOG);
|
||
|
|
Firmata.write(10); // 10 = 10-bit resolution
|
||
|
|
}
|
||
|
|
if (IS_PIN_PWM(pin)) {
|
||
|
|
Firmata.write(PIN_MODE_PWM);
|
||
|
|
Firmata.write(8); // 8 = 8-bit resolution
|
||
|
|
}
|
||
|
|
if (IS_PIN_DIGITAL(pin)) {
|
||
|
|
Firmata.write(PIN_MODE_SERVO);
|
||
|
|
Firmata.write(14);
|
||
|
|
}
|
||
|
|
if (IS_PIN_I2C(pin)) {
|
||
|
|
Firmata.write(PIN_MODE_I2C);
|
||
|
|
Firmata.write(1); // TODO: could assign a number to map to SCL or SDA
|
||
|
|
}
|
||
|
|
Firmata.write(127);
|
||
|
|
}
|
||
|
|
Firmata.write(END_SYSEX);
|
||
|
|
break;
|
||
|
|
case PIN_STATE_QUERY:
|
||
|
|
if (argc > 0) {
|
||
|
|
byte pin = argv[0];
|
||
|
|
Firmata.write(START_SYSEX);
|
||
|
|
Firmata.write(PIN_STATE_RESPONSE);
|
||
|
|
Firmata.write(pin);
|
||
|
|
if (pin < TOTAL_PINS) {
|
||
|
|
Firmata.write((byte)pinConfig[pin]);
|
||
|
|
Firmata.write((byte)pinState[pin] & 0x7F);
|
||
|
|
if (pinState[pin] & 0xFF80) Firmata.write((byte)(pinState[pin] >> 7) & 0x7F);
|
||
|
|
if (pinState[pin] & 0xC000) Firmata.write((byte)(pinState[pin] >> 14) & 0x7F);
|
||
|
|
}
|
||
|
|
Firmata.write(END_SYSEX);
|
||
|
|
}
|
||
|
|
break;
|
||
|
|
case ANALOG_MAPPING_QUERY:
|
||
|
|
Firmata.write(START_SYSEX);
|
||
|
|
Firmata.write(ANALOG_MAPPING_RESPONSE);
|
||
|
|
for (byte pin = 0; pin < TOTAL_PINS; pin++) {
|
||
|
|
Firmata.write(IS_PIN_ANALOG(pin) ? PIN_TO_ANALOG(pin) : 127);
|
||
|
|
}
|
||
|
|
Firmata.write(END_SYSEX);
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
void enableI2CPins()
|
||
|
|
{
|
||
|
|
byte i;
|
||
|
|
// is there a faster way to do this? would probaby require importing
|
||
|
|
// Arduino.h to get SCL and SDA pins
|
||
|
|
for (i = 0; i < TOTAL_PINS; i++) {
|
||
|
|
if (IS_PIN_I2C(i)) {
|
||
|
|
// mark pins as i2c so they are ignore in non i2c data requests
|
||
|
|
setPinModeCallback(i, PIN_MODE_I2C);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
isI2CEnabled = true;
|
||
|
|
|
||
|
|
Wire.begin();
|
||
|
|
}
|
||
|
|
|
||
|
|
/* disable the i2c pins so they can be used for other functions */
|
||
|
|
void disableI2CPins() {
|
||
|
|
isI2CEnabled = false;
|
||
|
|
// disable read continuous mode for all devices
|
||
|
|
queryIndex = -1;
|
||
|
|
}
|
||
|
|
|
||
|
|
/*==============================================================================
|
||
|
|
* SETUP()
|
||
|
|
*============================================================================*/
|
||
|
|
|
||
|
|
void systemResetCallback()
|
||
|
|
{
|
||
|
|
isResetting = true;
|
||
|
|
|
||
|
|
// initialize a defalt state
|
||
|
|
// TODO: option to load config from EEPROM instead of default
|
||
|
|
|
||
|
|
// Reset circuit playground components to a default state with nothing running.
|
||
|
|
// (i.e. no pixels lit, no sound, no data streaming back)
|
||
|
|
circuitPlaygroundReset();
|
||
|
|
|
||
|
|
if (isI2CEnabled) {
|
||
|
|
disableI2CPins();
|
||
|
|
}
|
||
|
|
|
||
|
|
for (byte i = 0; i < TOTAL_PORTS; i++) {
|
||
|
|
reportPINs[i] = false; // by default, reporting off
|
||
|
|
portConfigInputs[i] = 0; // until activated
|
||
|
|
previousPINs[i] = 0;
|
||
|
|
}
|
||
|
|
|
||
|
|
for (byte i = 0; i < TOTAL_PINS; i++) {
|
||
|
|
// pins with analog capability default to analog input
|
||
|
|
// otherwise, pins default to digital output
|
||
|
|
if (IS_PIN_ANALOG(i)) {
|
||
|
|
// turns off pullup, configures everything
|
||
|
|
setPinModeCallback(i, PIN_MODE_ANALOG);
|
||
|
|
} else if (IS_PIN_DIGITAL(i)) {
|
||
|
|
// sets the output to 0, configures portConfigInputs
|
||
|
|
setPinModeCallback(i, OUTPUT);
|
||
|
|
}
|
||
|
|
|
||
|
|
servoPinMap[i] = 255;
|
||
|
|
}
|
||
|
|
// by default, do not report any analog inputs
|
||
|
|
analogInputsToReport = 0;
|
||
|
|
|
||
|
|
detachedServoCount = 0;
|
||
|
|
servoCount = 0;
|
||
|
|
|
||
|
|
/* send digital inputs to set the initial state on the host computer,
|
||
|
|
* since once in the loop(), this firmware will only send on change */
|
||
|
|
/*
|
||
|
|
TODO: this can never execute, since no pins default to digital input
|
||
|
|
but it will be needed when/if we support EEPROM stored config
|
||
|
|
for (byte i=0; i < TOTAL_PORTS; i++) {
|
||
|
|
outputPort(i, readPort(i, portConfigInputs[i]), true);
|
||
|
|
}
|
||
|
|
*/
|
||
|
|
isResetting = false;
|
||
|
|
}
|
||
|
|
|
||
|
|
void circuitPlaygroundReset() {
|
||
|
|
// Reset the circuit playground components into a default state
|
||
|
|
// with none of the pixels lit, no tones playing, and no cap touch
|
||
|
|
// or accelerometer data streaming back.
|
||
|
|
|
||
|
|
// Turn off all the NeoPixels.
|
||
|
|
CircuitPlayground.strip.clear();
|
||
|
|
CircuitPlayground.strip.show();
|
||
|
|
|
||
|
|
// Reset the accelerometer to a default range.
|
||
|
|
CircuitPlayground.lis.setRange(LIS3DH_RANGE_2_G);
|
||
|
|
delay(100);
|
||
|
|
CircuitPlayground.lis.setClick(2, 80);
|
||
|
|
delay(100);
|
||
|
|
|
||
|
|
// Turn off streaming of tap, accel, and cap touch data.
|
||
|
|
streamTap = false;
|
||
|
|
streamAccel = false;
|
||
|
|
for (int i=0; i<CAP_COUNT; ++i) {
|
||
|
|
cap_state[i].streaming = false;
|
||
|
|
}
|
||
|
|
|
||
|
|
// Stop any tones on the speaker.
|
||
|
|
noTone(SPEAKER_PIN);
|
||
|
|
}
|
||
|
|
|
||
|
|
void setup()
|
||
|
|
{
|
||
|
|
// Circuit playground debug setup
|
||
|
|
#ifdef DEBUG_MODE
|
||
|
|
DEBUG_OUTPUT.begin(DEBUG_BAUD);
|
||
|
|
DEBUG_PRINTLN("Circuit Playground Firmata starting up!");
|
||
|
|
#endif
|
||
|
|
|
||
|
|
// Circuit playground setup:
|
||
|
|
if (!CircuitPlayground.begin()) {
|
||
|
|
// Failed to initialize circuit playground, fast blink the red LED on the board.
|
||
|
|
DEBUG_PRINTLN("Failed to initialize circuit playground!");
|
||
|
|
pinMode(13, OUTPUT);
|
||
|
|
while (1) {
|
||
|
|
digitalWrite(13, LOW);
|
||
|
|
delay(100);
|
||
|
|
digitalWrite(13, HIGH);
|
||
|
|
delay(100);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
Firmata.setFirmwareVersion(FIRMATA_MAJOR_VERSION, FIRMATA_MINOR_VERSION);
|
||
|
|
|
||
|
|
Firmata.attach(ANALOG_MESSAGE, analogWriteCallback);
|
||
|
|
Firmata.attach(DIGITAL_MESSAGE, digitalWriteCallback);
|
||
|
|
Firmata.attach(REPORT_ANALOG, reportAnalogCallback);
|
||
|
|
Firmata.attach(REPORT_DIGITAL, reportDigitalCallback);
|
||
|
|
Firmata.attach(SET_PIN_MODE, setPinModeCallback);
|
||
|
|
Firmata.attach(SET_DIGITAL_PIN_VALUE, setPinValueCallback);
|
||
|
|
Firmata.attach(START_SYSEX, sysexCallback);
|
||
|
|
Firmata.attach(SYSTEM_RESET, systemResetCallback);
|
||
|
|
|
||
|
|
// to use a port other than Serial, such as Serial1 on an Arduino Leonardo or Mega,
|
||
|
|
// Call begin(baud) on the alternate serial port and pass it to Firmata to begin like this:
|
||
|
|
// Serial1.begin(57600);
|
||
|
|
// Firmata.begin(Serial1);
|
||
|
|
// then comment out or remove lines 701 - 704 below
|
||
|
|
Firmata.begin(57600);
|
||
|
|
|
||
|
|
// Tell Firmata to ignore pins that are used by the Circuit Playground hardware.
|
||
|
|
// This MUST be called or else Firmata will 'clobber' pins like the SPI CS!
|
||
|
|
pinConfig[28] = PIN_MODE_IGNORE; // Pin 28 = D8 = LIS3DH CS
|
||
|
|
pinConfig[26] = PIN_MODE_IGNORE; // Messes with CS too?
|
||
|
|
|
||
|
|
#if defined(DEMO_MODE)
|
||
|
|
while (!Serial) {
|
||
|
|
runDemo(); // this will 'demo' the board off, so you know its working, until the serial port is opened
|
||
|
|
}
|
||
|
|
#endif
|
||
|
|
|
||
|
|
systemResetCallback(); // reset to default config
|
||
|
|
}
|
||
|
|
|
||
|
|
/*==============================================================================
|
||
|
|
* LOOP()
|
||
|
|
*============================================================================*/
|
||
|
|
void loop()
|
||
|
|
{
|
||
|
|
byte pin, analogPin;
|
||
|
|
|
||
|
|
/* DIGITALREAD - as fast as possible, check for changes and output them to the
|
||
|
|
* FTDI buffer using Serial.print() */
|
||
|
|
checkDigitalInputs();
|
||
|
|
|
||
|
|
/* STREAMREAD - processing incoming messagse as soon as possible, while still
|
||
|
|
* checking digital inputs. */
|
||
|
|
while (Firmata.available())
|
||
|
|
Firmata.processInput();
|
||
|
|
|
||
|
|
// TODO - ensure that Stream buffer doesn't go over 60 bytes
|
||
|
|
|
||
|
|
currentMillis = millis();
|
||
|
|
if (currentMillis - previousMillis > samplingInterval) {
|
||
|
|
previousMillis += samplingInterval;
|
||
|
|
/* ANALOGREAD - do all analogReads() at the configured sampling interval */
|
||
|
|
for (pin = 0; pin < TOTAL_PINS; pin++) {
|
||
|
|
if (IS_PIN_ANALOG(pin) && pinConfig[pin] == PIN_MODE_ANALOG) {
|
||
|
|
analogPin = PIN_TO_ANALOG(pin);
|
||
|
|
if (analogInputsToReport & (1 << analogPin)) {
|
||
|
|
Firmata.sendAnalog(analogPin, analogRead(analogPin));
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
// report i2c data for all device with read continuous mode enabled
|
||
|
|
if (queryIndex > -1) {
|
||
|
|
for (byte i = 0; i < queryIndex + 1; i++) {
|
||
|
|
readAndReportData(query[i].addr, query[i].reg, query[i].bytes);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
// Check if a tap event should be streamed to the firmata client.
|
||
|
|
if (streamTap) {
|
||
|
|
sendTapResponse();
|
||
|
|
}
|
||
|
|
// Check if an accelerometer event should be streamed to the firmata client.
|
||
|
|
if (streamAccel) {
|
||
|
|
sendAccelResponse();
|
||
|
|
}
|
||
|
|
// Check if any cap touch inputs should be streamed to the firmata client.
|
||
|
|
for (int i=0; i<CAP_COUNT; ++i) {
|
||
|
|
if (cap_state[i].streaming) {
|
||
|
|
sendCapResponse(cap_state[i].pin);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
/*==============================================================================
|
||
|
|
* RUN_DEMO()
|
||
|
|
*============================================================================*/
|
||
|
|
|
||
|
|
// we light one pixel at a time, this is our counter
|
||
|
|
uint8_t pixeln = 0;
|
||
|
|
void runDemo(void) {
|
||
|
|
// test Red #13 LED
|
||
|
|
CircuitPlayground.redLED(pixeln % 1);
|
||
|
|
|
||
|
|
/************* TEST SLIDE SWITCH */
|
||
|
|
if (CircuitPlayground.slideSwitch()) {
|
||
|
|
pixeln++;
|
||
|
|
if (pixeln == 11) {
|
||
|
|
pixeln = 0;
|
||
|
|
CircuitPlayground.clearPixels();
|
||
|
|
}
|
||
|
|
} else {
|
||
|
|
if (pixeln == 0) {
|
||
|
|
pixeln = 10;
|
||
|
|
CircuitPlayground.clearPixels();
|
||
|
|
}
|
||
|
|
pixeln--;
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
/************* TEST 10 NEOPIXELS */
|
||
|
|
CircuitPlayground.setPixelColor(pixeln, CircuitPlayground.colorWheel(25 * pixeln));
|
||
|
|
|
||
|
|
|
||
|
|
/************* TEST BOTH BUTTONS */
|
||
|
|
if (CircuitPlayground.leftButton()) {
|
||
|
|
CircuitPlayground.playTone(500 + pixeln * 500, 100, false);
|
||
|
|
}
|
||
|
|
if (CircuitPlayground.rightButton()) {
|
||
|
|
CircuitPlayground.setBrightness(60);
|
||
|
|
} else {
|
||
|
|
CircuitPlayground.setBrightness(20);
|
||
|
|
}
|
||
|
|
|
||
|
|
delay(100);
|
||
|
|
|
||
|
|
}
|