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[Firmata-commits] SF.net SVN: firmata:[73] arduino/trunk/Firmata/examples/StandardFirmata/ StandardFirmata.pde
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From: <pj...@us...> - 2011-09-05 17:30:28
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Revision: 73
http://firmata.svn.sourceforge.net/firmata/?rev=73&view=rev
Author: pjs
Date: 2011-09-05 17:30:22 +0000 (Mon, 05 Sep 2011)
Log Message:
-----------
Add I2C to StandardFirmata
Modified Paths:
--------------
arduino/trunk/Firmata/examples/StandardFirmata/StandardFirmata.pde
Modified: arduino/trunk/Firmata/examples/StandardFirmata/StandardFirmata.pde
===================================================================
--- arduino/trunk/Firmata/examples/StandardFirmata/StandardFirmata.pde 2011-09-03 23:36:10 UTC (rev 72)
+++ arduino/trunk/Firmata/examples/StandardFirmata/StandardFirmata.pde 2011-09-05 17:30:22 UTC (rev 73)
@@ -11,6 +11,9 @@
/*
Copyright (C) 2006-2008 Hans-Christoph Steiner. All rights reserved.
+ Copyright (C) 2010-2011 Paul Stoffregen. All rights reserved.
+ Copyright (C) 2009 Shigeru Kobayashi. All rights reserved.
+ Copyright (C) 2009-2011 Jeff Hoefs. All rights reserved.
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
@@ -27,8 +30,22 @@
*/
#include <Servo.h>
+#include <Wire.h>
#include <Firmata.h>
+// move the following defines to Firmata.h?
+#define I2C_WRITE B00000000
+#define I2C_READ B00001000
+#define I2C_READ_CONTINUOUSLY B00010000
+#define I2C_STOP_READING B00011000
+#define I2C_READ_WRITE_MODE_MASK B00011000
+#define I2C_10BIT_ADDRESS_MODE_MASK B00100000
+
+#define MAX_QUERIES 8
+#define MINIMUM_SAMPLING_INTERVAL 10
+
+#define REGISTER_NOT_SPECIFIED -1
+
/*==============================================================================
* GLOBAL VARIABLES
*============================================================================*/
@@ -50,12 +67,70 @@
unsigned long previousMillis; // for comparison with currentMillis
int samplingInterval = 19; // how often to run the main loop (in ms)
+/* i2c data */
+struct i2c_device_info {
+ byte addr;
+ byte reg;
+ byte bytes;
+};
+
+/* for i2c read continuous more */
+i2c_device_info query[MAX_QUERIES];
+
+byte i2cRxData[32];
+boolean readingContinuously = false;
+boolean isI2CEnabled = false;
+byte queryIndex = 0;
+unsigned int i2cReadDelayTime = 0; // default delay time between i2c read request and Wire.requestFrom()
+
Servo servos[MAX_SERVOS];
-
/*==============================================================================
* FUNCTIONS
*============================================================================*/
+void readAndReportData(byte address, int theRegister, byte numBytes) {
+ // allow I2C requests that don't require a register read
+ // for example, some devices using an interrupt pin to signify new data available
+ // do not always require the register read so upon interrupt you call Wire.requestFrom()
+ if (theRegister != REGISTER_NOT_SPECIFIED) {
+ Wire.beginTransmission(address);
+ #if ARDUINO >= 100
+ Wire.write((byte)theRegister);
+ #else
+ Wire.send((byte)theRegister);
+ #endif
+ Wire.endTransmission();
+ delayMicroseconds(i2cReadDelayTime); // delay is necessary for some devices such as WiiNunchuck
+ } else {
+ theRegister = 0; // fill the register with a dummy value
+ }
+
+ Wire.requestFrom(address, numBytes); // all bytes are returned in requestFrom
+
+ // check to be sure correct number of bytes were returned by slave
+ if(numBytes == Wire.available()) {
+ i2cRxData[0] = address;
+ i2cRxData[1] = theRegister;
+ for (int i = 0; i < numBytes; i++) {
+ #if ARDUINO >= 100
+ i2cRxData[2 + i] = Wire.read();
+ #else
+ i2cRxData[2 + i] = Wire.receive();
+ #endif
+ }
+ }
+ else {
+ if(numBytes > Wire.available()) {
+ Firmata.sendString("I2C Read Error: Too many bytes received");
+ } else {
+ Firmata.sendString("I2C Read Error: Too few bytes received");
+ }
+ }
+
+ // send slave address, register and received bytes
+ Firmata.sendSysex(SYSEX_I2C_REPLY, numBytes + 2, i2cRxData);
+}
+
void outputPort(byte portNumber, byte portValue, byte forceSend)
{
// pins not configured as INPUT are cleared to zeros
@@ -99,6 +174,13 @@
*/
void setPinModeCallback(byte pin, int mode)
{
+ if (pinConfig[pin] == I2C && mode != I2C) {
+ isI2CEnabled = false;
+ // uncomment the following once end() method is added to Wire library
+ // Wire.end();
+ Firmata.sendString("Once I2C is enabled, the I2C pins cannot be changed to another mode");
+ return;
+ }
if (IS_PIN_SERVO(pin) && mode != SERVO && servos[PIN_TO_SERVO(pin)].attached()) {
servos[PIN_TO_SERVO(pin)].detach();
}
@@ -155,8 +237,11 @@
}
break;
case I2C:
- pinConfig[pin] = mode;
- Firmata.sendString("I2C mode not yet supported");
+ if (IS_PIN_I2C(pin)) {
+ pinConfig[pin] = I2C;
+ // TODO: if not enabled call enableI2CPins()?
+ // or does user have to call I2C config again in order to reenable I2C?
+ }
break;
default:
Firmata.sendString("Unknown pin mode"); // TODO: put error msgs in EEPROM
@@ -243,7 +328,87 @@
void sysexCallback(byte command, byte argc, byte *argv)
{
+ byte mode;
+ byte slaveAddress;
+ byte slaveRegister;
+ byte data;
+ unsigned int delayTime;
+
switch(command) {
+ case I2C_REQUEST:
+ mode = argv[1] & I2C_READ_WRITE_MODE_MASK;
+ if (argv[1] & I2C_10BIT_ADDRESS_MODE_MASK) {
+ Firmata.sendString("10-bit addressing mode is not yet 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);
+ #if ARDUINO >= 100
+ Wire.write(data);
+ #else
+ Wire.send(data);
+ #endif
+ }
+ 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
+ readAndReportData(slaveAddress, (int)slaveRegister, data);
+ }
+ else {
+ // a slave register is NOT specified
+ data = argv[2] + (argv[3] << 7); // bytes to read
+ readAndReportData(slaveAddress, (int)REGISTER_NOT_SPECIFIED, data);
+ }
+ break;
+ case I2C_READ_CONTINUOUSLY:
+ if ((queryIndex + 1) >= MAX_QUERIES) {
+ // too many queries, just ignore
+ Firmata.sendString("too many queries");
+ break;
+ }
+ query[queryIndex].addr = slaveAddress;
+ query[queryIndex].reg = argv[2] + (argv[3] << 7);
+ query[queryIndex].bytes = argv[4] + (argv[5] << 7);
+ readingContinuously = true;
+ queryIndex++;
+ break;
+ case I2C_STOP_READING:
+ readingContinuously = false;
+ queryIndex = 0;
+ break;
+ default:
+ break;
+ }
+ break;
+ case I2C_CONFIG:
+ delayTime = (argv[4] + (argv[5] << 7)); // MSB
+ delayTime = (delayTime << 8) + (argv[2] + (argv[3] << 7)); // add LSB
+
+ if(delayTime > 0) {
+ i2cReadDelayTime = delayTime;
+ }
+
+ if(argc > 6) {
+ // If you extend I2C_Config, handle your data here
+ }
+
+ if (!isI2CEnabled) {
+ enableI2CPins();
+ }
+
+ break;
case SERVO_CONFIG:
if(argc > 4) {
// these vars are here for clarity, they'll optimized away by the compiler
@@ -263,6 +428,9 @@
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;
@@ -296,6 +464,10 @@
Serial.write(SERVO);
Serial.write(14);
}
+ if (IS_PIN_I2C(pin)) {
+ Serial.write(I2C);
+ Serial.write(1); // to do: determine appropriate value
+ }
Serial.write(127);
}
Serial.write(END_SYSEX);
@@ -326,7 +498,32 @@
}
}
+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, I2C);
+ }
+ }
+
+ isI2CEnabled = true;
+
+ // is there enough time before the first I2C request to call this here?
+ Wire.begin();
+}
+void systemResetCallback()
+{
+ // clear i2c read continuous data
+ readingContinuously = false;
+ queryIndex = 0;
+}
+
+
/*==============================================================================
* SETUP()
*============================================================================*/
@@ -342,6 +539,7 @@
Firmata.attach(REPORT_DIGITAL, reportDigitalCallback);
Firmata.attach(SET_PIN_MODE, setPinModeCallback);
Firmata.attach(START_SYSEX, sysexCallback);
+ Firmata.attach(SYSTEM_RESET, systemResetCallback);
// TODO: load state from EEPROM here
@@ -365,7 +563,7 @@
analogInputsToReport = 0;
Firmata.begin(57600);
-
+
/* send digital inputs to set the initial state on the host computer,
* since once in the loop(), this firmware will only send on change */
for (i=0; i < TOTAL_PORTS; i++) {
@@ -405,5 +603,11 @@
}
}
}
+ // report i2c data if read continuous mode is enabled
+ if (readingContinuously) {
+ for (byte i = 0; i < queryIndex; i++) {
+ readAndReportData(query[i].addr, query[i].reg, query[i].bytes);
+ }
+ }
}
}
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