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    HC-SR04 Ultrasonic sensor with Isadora and Firmdata

    How To... ?
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    • A
      Andy Delmaine Beta Silver last edited by

      Hi 

      I am controlling some LED strip lighting using ISADORA and firmdata (have the output to relays working) but I can't get the HC-SR04 Ultrasonic sensor to give any data using the firmdata plugin via Isadora so I can control things.

      Has anyone done this using firmdata? or is it even possible?

      Thanks

      Andy 

      Juriaan 1 Reply Last reply Reply Quote 0
      • Juriaan
        Juriaan Tech Staff @Andy Delmaine last edited by

        @andy-delmaine

        Hey Andy, 

        could you share with us what you tried so far, both the Arduino code and your Isadora patch?

        Isadora 3.1.1, Dell XPS 17 9710, Windows 10
        Interactive Performance Designer, Freelance Artist, Scenographer, Lighting Designer, TroikaTronix Community moderator
        Always in for chatting about interaction in space / performance design. Drop me an email at hello@juriaan.me

        A 1 Reply Last reply Reply Quote 0
        • A
          Andy Delmaine Beta Silver @Juriaan last edited by

          @juriaan

          isadora-test_as_240522_162150.izz

          the digital outputs trigger the relays on and off but not sure how to get the input from the sensor which is currently on pins trigger on 5 echo on 6 neither pullup or digital is giving an change in input

          The code for arduino is the default Firmdata Code 

          I haven't used arduino/isadora for years so my knowledge of this is very limited so sorry if I'm missing something obvious

          /*
            Firmata is a generic protocol for communicating with microcontrollers
            from software on a host computer. It is intended to work with
            any host computer software package.
            To download a host software package, please click on the following link
            to open the list of Firmata client libraries in your default browser.
            https://github.com/firmata/arduino#firmata-client-libraries
            Copyright (C) 2006-2008 Hans-Christoph Steiner.  All rights reserved.
            Copyright (C) 2010-2011 Paul Stoffregen.  All rights reserved.
            Copyright (C) 2009 Shigeru Kobayashi.  All rights reserved.
            Copyright (C) 2009-2016 Jeff Hoefs.  All rights reserved.
            This library is free software; you can redistribute it and/or
            modify it under the terms of the GNU Lesser General Public
            License as published by the Free Software Foundation; either
            version 2.1 of the License, or (at your option) any later version.
            See file LICENSE.txt for further informations on licensing terms.
            Last updated August 17th, 2017
          */
          #include <servo.h>
          #include <wire.h>
          #include <firmata.h>
          #define I2C_WRITE                   B00000000
          #define I2C_READ                    B00001000
          #define I2C_READ_CONTINUOUSLY       B00010000
          #define I2C_STOP_READING            B00011000
          #define I2C_READ_WRITE_MODE_MASK    B00011000
          #define I2C_10BIT_ADDRESS_MODE_MASK B00100000
          #define I2C_END_TX_MASK             B01000000
          #define I2C_STOP_TX                 1
          #define I2C_RESTART_TX              0
          #define I2C_MAX_QUERIES             8
          #define I2C_REGISTER_NOT_SPECIFIED  -1
          // the minimum interval for sampling analog input
          #define MINIMUM_SAMPLING_INTERVAL   1
          /*==============================================================================
           * GLOBAL VARIABLES
           *============================================================================*/
          #ifdef FIRMATA_SERIAL_FEATURE
          SerialFirmata serialFeature;
          #endif
          /* analog inputs */
          int analogInputsToReport = 0; // bitwise array to store pin reporting
          /* digital input ports */
          byte reportPINs[TOTAL_PORTS];       // 1 = report this port, 0 = silence
          byte previousPINs[TOTAL_PORTS];     // previous 8 bits sent
          /* pins configuration */
          byte portConfigInputs[TOTAL_PORTS]; // each bit: 1 = pin in INPUT, 0 = anything else
          /* timer variables */
          unsigned long currentMillis;        // store the current value from millis()
          unsigned long previousMillis;       // for comparison with currentMillis
          unsigned int samplingInterval = 19; // how often to run the main loop (in ms)
          /* i2c data */
          struct i2c_device_info {
            byte addr;
            int reg;
            byte bytes;
            byte stopTX;
          };
          /* for i2c read continuous more */
          i2c_device_info query[I2C_MAX_QUERIES];
          byte i2cRxData[64];
          boolean isI2CEnabled = false;
          signed char queryIndex = -1;
          // default delay time between i2c read request and Wire.requestFrom()
          unsigned int i2cReadDelayTime = 0;
          Servo servos[MAX_SERVOS];
          byte servoPinMap[TOTAL_PINS];
          byte detachedServos[MAX_SERVOS];
          byte detachedServoCount = 0;
          byte servoCount = 0;
          boolean isResetting = false;
          // Forward declare a few functions to avoid compiler errors with older versions
          // of the Arduino IDE.
          void setPinModeCallback(byte, int);
          void reportAnalogCallback(byte analogPin, int value);
          void sysexCallback(byte, byte, byte*);
          /* utility functions */
          void wireWrite(byte data)
          {
          #if ARDUINO >= 100
            Wire.write((byte)data);
          #else
            Wire.send(data);
          #endif
          }
          byte wireRead(void)
          {
          #if ARDUINO >= 100
            return Wire.read();
          #else
            return Wire.receive();
          #endif
          }
          /*==============================================================================
           * FUNCTIONS
           *============================================================================*/
          void attachServo(byte pin, int minPulse, int maxPulse)
          {
            if (servoCount < MAX_SERVOS) {
              // reuse indexes of detached servos until all have been reallocated
              if (detachedServoCount > 0) {
                servoPinMap[pin] = detachedServos[detachedServoCount - 1];
                if (detachedServoCount > 0) detachedServoCount--;
              } else {
                servoPinMap[pin] = servoCount;
                servoCount++;
              }
              if (minPulse > 0 && maxPulse > 0) {
                servos[servoPinMap[pin]].attach(PIN_TO_DIGITAL(pin), minPulse, maxPulse);
              } else {
                servos[servoPinMap[pin]].attach(PIN_TO_DIGITAL(pin));
              }
            } else {
              Firmata.sendString("Max servos attached");
            }
          }
          void detachServo(byte pin)
          {
            servos[servoPinMap[pin]].detach();
            // if we're detaching the last servo, decrement the count
            // otherwise store the index of the detached servo
            if (servoPinMap[pin] == servoCount && servoCount > 0) {
              servoCount--;
            } else if (servoCount > 0) {
              // keep track of detached servos because we want to reuse their indexes
              // before incrementing the count of attached servos
              detachedServoCount++;
              detachedServos[detachedServoCount - 1] = servoPinMap[pin];
            }
            servoPinMap[pin] = 255;
          }
          void enableI2CPins()
          {
            byte i;
            // is there a faster way to do this? would probaby require importing
            // Arduino.h to get SCL and SDA pins
            for (i = 0; i < TOTAL_PINS; i++) {
              if (IS_PIN_I2C(i)) {
                // mark pins as i2c so they are ignore in non i2c data requests
                setPinModeCallback(i, PIN_MODE_I2C);
              }
            }
            isI2CEnabled = true;
            Wire.begin();
          }
          /* disable the i2c pins so they can be used for other functions */
          void disableI2CPins() {
            isI2CEnabled = false;
            // disable read continuous mode for all devices
            queryIndex = -1;
          }
          void readAndReportData(byte address, int theRegister, byte numBytes, byte stopTX) {
            // allow I2C requests that don't require a register read
            // for example, some devices using an interrupt pin to signify new data available
            // do not always require the register read so upon interrupt you call Wire.requestFrom()
            if (theRegister != I2C_REGISTER_NOT_SPECIFIED) {
              Wire.beginTransmission(address);
              wireWrite((byte)theRegister);
              Wire.endTransmission(stopTX); // default = true
              // do not set a value of 0
              if (i2cReadDelayTime > 0) {
                // delay is necessary for some devices such as WiiNunchuck
                delayMicroseconds(i2cReadDelayTime);
              }
            } else {
              theRegister = 0;  // fill the register with a dummy value
            }
            Wire.requestFrom(address, numBytes);  // all bytes are returned in requestFrom
            // check to be sure correct number of bytes were returned by slave
            if (numBytes < Wire.available()) {
              Firmata.sendString("I2C: Too many bytes received");
            } else if (numBytes > Wire.available()) {
              Firmata.sendString("I2C: Too few bytes received");
              numBytes = Wire.available();
            }
            i2cRxData[0] = address;
            i2cRxData[1] = theRegister;
            for (int i = 0; i < numBytes && Wire.available(); i++) {
              i2cRxData[2 + i] = wireRead();
            }
            // send slave address, register and received bytes
            Firmata.sendSysex(SYSEX_I2C_REPLY, numBytes + 2, i2cRxData);
          }
          void outputPort(byte portNumber, byte portValue, byte forceSend)
          {
            // pins not configured as INPUT are cleared to zeros
            portValue = portValue & portConfigInputs[portNumber];
            // only send if the value is different than previously sent
            if (forceSend || previousPINs[portNumber] != portValue) {
              Firmata.sendDigitalPort(portNumber, portValue);
              previousPINs[portNumber] = portValue;
            }
          }
          /* -----------------------------------------------------------------------------
           * check all the active digital inputs for change of state, then add any events
           * to the Serial output queue using Serial.print() */
          void checkDigitalInputs(void)
          {
            /* Using non-looping code allows constants to be given to readPort().
             * The compiler will apply substantial optimizations if the inputs
             * to readPort() are compile-time constants. */
            if (TOTAL_PORTS > 0 && reportPINs[0]) outputPort(0, readPort(0, portConfigInputs[0]), false);
            if (TOTAL_PORTS > 1 && reportPINs[1]) outputPort(1, readPort(1, portConfigInputs[1]), false);
            if (TOTAL_PORTS > 2 && reportPINs[2]) outputPort(2, readPort(2, portConfigInputs[2]), false);
            if (TOTAL_PORTS > 3 && reportPINs[3]) outputPort(3, readPort(3, portConfigInputs[3]), false);
            if (TOTAL_PORTS > 4 && reportPINs[4]) outputPort(4, readPort(4, portConfigInputs[4]), false);
            if (TOTAL_PORTS > 5 && reportPINs[5]) outputPort(5, readPort(5, portConfigInputs[5]), false);
            if (TOTAL_PORTS > 6 && reportPINs[6]) outputPort(6, readPort(6, portConfigInputs[6]), false);
            if (TOTAL_PORTS > 7 && reportPINs[7]) outputPort(7, readPort(7, portConfigInputs[7]), false);
            if (TOTAL_PORTS > 8 && reportPINs[8]) outputPort(8, readPort(8, portConfigInputs[8]), false);
            if (TOTAL_PORTS > 9 && reportPINs[9]) outputPort(9, readPort(9, portConfigInputs[9]), false);
            if (TOTAL_PORTS > 10 && reportPINs[10]) outputPort(10, readPort(10, portConfigInputs[10]), false);
            if (TOTAL_PORTS > 11 && reportPINs[11]) outputPort(11, readPort(11, portConfigInputs[11]), false);
            if (TOTAL_PORTS > 12 && reportPINs[12]) outputPort(12, readPort(12, portConfigInputs[12]), false);
            if (TOTAL_PORTS > 13 && reportPINs[13]) outputPort(13, readPort(13, portConfigInputs[13]), false);
            if (TOTAL_PORTS > 14 && reportPINs[14]) outputPort(14, readPort(14, portConfigInputs[14]), false);
            if (TOTAL_PORTS > 15 && reportPINs[15]) outputPort(15, readPort(15, portConfigInputs[15]), false);
          }
          // -----------------------------------------------------------------------------
          /* sets the pin mode to the correct state and sets the relevant bits in the
           * two bit-arrays that track Digital I/O and PWM status
           */
          void setPinModeCallback(byte pin, int mode)
          {
            if (Firmata.getPinMode(pin) == PIN_MODE_IGNORE)
              return;
            if (Firmata.getPinMode(pin) == PIN_MODE_I2C && isI2CEnabled && mode != PIN_MODE_I2C) {
              // disable i2c so pins can be used for other functions
              // the following if statements should reconfigure the pins properly
              disableI2CPins();
            }
            if (IS_PIN_DIGITAL(pin) && mode != PIN_MODE_SERVO) {
              if (servoPinMap[pin] < MAX_SERVOS && servos[servoPinMap[pin]].attached()) {
                detachServo(pin);
              }
            }
            if (IS_PIN_ANALOG(pin)) {
              reportAnalogCallback(PIN_TO_ANALOG(pin), mode == PIN_MODE_ANALOG ? 1 : 0); // turn on/off reporting
            }
            if (IS_PIN_DIGITAL(pin)) {
              if (mode == INPUT || mode == PIN_MODE_PULLUP) {
                portConfigInputs[pin / 8] |= (1 << (pin & 7));
              } else {
                portConfigInputs[pin / 8] &= ~(1 << (pin & 7));
              }
            }
            Firmata.setPinState(pin, 0);
            switch (mode) {
              case PIN_MODE_ANALOG:
                if (IS_PIN_ANALOG(pin)) {
                  if (IS_PIN_DIGITAL(pin)) {
                    pinMode(PIN_TO_DIGITAL(pin), INPUT);    // disable output driver
          #if ARDUINO <= 100
                    // deprecated since Arduino 1.0.1 - TODO: drop support in Firmata 2.6
                    digitalWrite(PIN_TO_DIGITAL(pin), LOW); // disable internal pull-ups
          #endif
                  }
                  Firmata.setPinMode(pin, PIN_MODE_ANALOG);
                }
                break;
              case INPUT:
                if (IS_PIN_DIGITAL(pin)) {
                  pinMode(PIN_TO_DIGITAL(pin), INPUT);    // disable output driver
          #if ARDUINO <= 100
                  // deprecated since Arduino 1.0.1 - TODO: drop support in Firmata 2.6
                  digitalWrite(PIN_TO_DIGITAL(pin), LOW); // disable internal pull-ups
          #endif
                  Firmata.setPinMode(pin, INPUT);
                }
                break;
              case PIN_MODE_PULLUP:
                if (IS_PIN_DIGITAL(pin)) {
                  pinMode(PIN_TO_DIGITAL(pin), INPUT_PULLUP);
                  Firmata.setPinMode(pin, PIN_MODE_PULLUP);
                  Firmata.setPinState(pin, 1);
                }
                break;
              case OUTPUT:
                if (IS_PIN_DIGITAL(pin)) {
                  if (Firmata.getPinMode(pin) == PIN_MODE_PWM) {
                    // Disable PWM if pin mode was previously set to PWM.
                    digitalWrite(PIN_TO_DIGITAL(pin), LOW);
                  }
                  pinMode(PIN_TO_DIGITAL(pin), OUTPUT);
                  Firmata.setPinMode(pin, OUTPUT);
                }
                break;
              case PIN_MODE_PWM:
                if (IS_PIN_PWM(pin)) {
                  pinMode(PIN_TO_PWM(pin), OUTPUT);
                  analogWrite(PIN_TO_PWM(pin), 0);
                  Firmata.setPinMode(pin, PIN_MODE_PWM);
                }
                break;
              case PIN_MODE_SERVO:
                if (IS_PIN_DIGITAL(pin)) {
                  Firmata.setPinMode(pin, PIN_MODE_SERVO);
                  if (servoPinMap[pin] == 255 || !servos[servoPinMap[pin]].attached()) {
                    // pass -1 for min and max pulse values to use default values set
                    // by Servo library
                    attachServo(pin, -1, -1);
                  }
                }
                break;
              case PIN_MODE_I2C:
                if (IS_PIN_I2C(pin)) {
                  // mark the pin as i2c
                  // the user must call I2C_CONFIG to enable I2C for a device
                  Firmata.setPinMode(pin, PIN_MODE_I2C);
                }
                break;
              case PIN_MODE_SERIAL:
          #ifdef FIRMATA_SERIAL_FEATURE
                serialFeature.handlePinMode(pin, PIN_MODE_SERIAL);
          #endif
                break;
              default:
                Firmata.sendString("Unknown pin mode"); // TODO: put error msgs in EEPROM
            }
            // TODO: save status to EEPROM here, if changed
          }
          /*
           * Sets the value of an individual pin. Useful if you want to set a pin value but
           * are not tracking the digital port state.
           * Can only be used on pins configured as OUTPUT.
           * Cannot be used to enable pull-ups on Digital INPUT pins.
           */
          void setPinValueCallback(byte pin, int value)
          {
            if (pin < TOTAL_PINS && IS_PIN_DIGITAL(pin)) {
              if (Firmata.getPinMode(pin) == OUTPUT) {
                Firmata.setPinState(pin, value);
                digitalWrite(PIN_TO_DIGITAL(pin), value);
              }
            }
          }
          void analogWriteCallback(byte pin, int value)
          {
            if (pin < TOTAL_PINS) {
              switch (Firmata.getPinMode(pin)) {
                case PIN_MODE_SERVO:
                  if (IS_PIN_DIGITAL(pin))
                    servos[servoPinMap[pin]].write(value);
                  Firmata.setPinState(pin, value);
                  break;
                case PIN_MODE_PWM:
                  if (IS_PIN_PWM(pin))
                    analogWrite(PIN_TO_PWM(pin), value);
                  Firmata.setPinState(pin, value);
                  break;
              }
            }
          }
          void digitalWriteCallback(byte port, int value)
          {
            byte pin, lastPin, pinValue, mask = 1, pinWriteMask = 0;
            if (port < TOTAL_PORTS) {
              // create a mask of the pins on this port that are writable.
              lastPin = port * 8 + 8;
              if (lastPin > TOTAL_PINS) lastPin = TOTAL_PINS;
              for (pin = port * 8; pin < lastPin; pin++) {
                // do not disturb non-digital pins (eg, Rx & Tx)
                if (IS_PIN_DIGITAL(pin)) {
                  // do not touch pins in PWM, ANALOG, SERVO or other modes
                  if (Firmata.getPinMode(pin) == OUTPUT || Firmata.getPinMode(pin) == INPUT) {
                    pinValue = ((byte)value & mask) ? 1 : 0;
                    if (Firmata.getPinMode(pin) == OUTPUT) {
                      pinWriteMask |= mask;
                    } else if (Firmata.getPinMode(pin) == INPUT && pinValue == 1 && Firmata.getPinState(pin) != 1) {
                      // only handle INPUT here for backwards compatibility
          #if ARDUINO > 100
                      pinMode(pin, INPUT_PULLUP);
          #else
                      // only write to the INPUT pin to enable pullups if Arduino v1.0.0 or earlier
                      pinWriteMask |= mask;
          #endif
                    }
                    Firmata.setPinState(pin, pinValue);
                  }
                }
                mask = mask << 1;
              }
              writePort(port, (byte)value, pinWriteMask);
            }
          }
          // -----------------------------------------------------------------------------
          /* sets bits in a bit array (int) to toggle the reporting of the analogIns
           */
          //void FirmataClass::setAnalogPinReporting(byte pin, byte state) {
          //}
          void reportAnalogCallback(byte analogPin, int value)
          {
            if (analogPin < TOTAL_ANALOG_PINS) {
              if (value == 0) {
                analogInputsToReport = analogInputsToReport & ~ (1 << analogPin);
              } else {
                analogInputsToReport = analogInputsToReport | (1 << analogPin);
                // prevent during system reset or all analog pin values will be reported
                // which may report noise for unconnected analog pins
                if (!isResetting) {
                  // Send pin value immediately. This is helpful when connected via
                  // ethernet, wi-fi or bluetooth so pin states can be known upon
                  // reconnecting.
                  Firmata.sendAnalog(analogPin, analogRead(analogPin));
                }
              }
            }
            // TODO: save status to EEPROM here, if changed
          }
          void reportDigitalCallback(byte port, int value)
          {
            if (port < TOTAL_PORTS) {
              reportPINs[port] = (byte)value;
              // Send port value immediately. This is helpful when connected via
              // ethernet, wi-fi or bluetooth so pin states can be known upon
              // reconnecting.
              if (value) outputPort(port, readPort(port, portConfigInputs[port]), true);
            }
            // do not disable analog reporting on these 8 pins, to allow some
            // pins used for digital, others analog.  Instead, allow both types
            // of reporting to be enabled, but check if the pin is configured
            // as analog when sampling the analog inputs.  Likewise, while
            // scanning digital pins, portConfigInputs will mask off values from any
            // pins configured as analog
          }
          /*==============================================================================
           * SYSEX-BASED commands
           *============================================================================*/
          void sysexCallback(byte command, byte argc, byte *argv)
          {
            byte mode;
            byte stopTX;
            byte slaveAddress;
            byte data;
            int slaveRegister;
            unsigned int delayTime;
            switch (command) {
              case I2C_REQUEST:
                mode = argv[1] & I2C_READ_WRITE_MODE_MASK;
                if (argv[1] & I2C_10BIT_ADDRESS_MODE_MASK) {
                  Firmata.sendString("10-bit addressing not supported");
                  return;
                }
                else {
                  slaveAddress = argv[0];
                }
                // need to invert the logic here since 0 will be default for client
                // libraries that have not updated to add support for restart tx
                if (argv[1] & I2C_END_TX_MASK) {
                  stopTX = I2C_RESTART_TX;
                }
                else {
                  stopTX = I2C_STOP_TX; // default
                }
                switch (mode) {
                  case I2C_WRITE:
                    Wire.beginTransmission(slaveAddress);
                    for (byte i = 2; i < argc; i += 2) {
                      data = argv[i] + (argv[i + 1] << 7);
                      wireWrite(data);
                    }
                    Wire.endTransmission();
                    delayMicroseconds(70);
                    break;
                  case I2C_READ:
                    if (argc == 6) {
                      // a slave register is specified
                      slaveRegister = argv[2] + (argv[3] << 7);
                      data = argv[4] + (argv[5] << 7);  // bytes to read
                    }
                    else {
                      // a slave register is NOT specified
                      slaveRegister = I2C_REGISTER_NOT_SPECIFIED;
                      data = argv[2] + (argv[3] << 7);  // bytes to read
                    }
                    readAndReportData(slaveAddress, (int)slaveRegister, data, stopTX);
                    break;
                  case I2C_READ_CONTINUOUSLY:
                    if ((queryIndex + 1) >= I2C_MAX_QUERIES) {
                      // too many queries, just ignore
                      Firmata.sendString("too many queries");
                      break;
                    }
                    if (argc == 6) {
                      // a slave register is specified
                      slaveRegister = argv[2] + (argv[3] << 7);
                      data = argv[4] + (argv[5] << 7);  // bytes to read
                    }
                    else {
                      // a slave register is NOT specified
                      slaveRegister = (int)I2C_REGISTER_NOT_SPECIFIED;
                      data = argv[2] + (argv[3] << 7);  // bytes to read
                    }
                    queryIndex++;
                    query[queryIndex].addr = slaveAddress;
                    query[queryIndex].reg = slaveRegister;
                    query[queryIndex].bytes = data;
                    query[queryIndex].stopTX = stopTX;
                    break;
                  case I2C_STOP_READING:
                    byte queryIndexToSkip;
                    // if read continuous mode is enabled for only 1 i2c device, disable
                    // read continuous reporting for that device
                    if (queryIndex <= 0) {
                      queryIndex = -1;
                    } else {
                      queryIndexToSkip = 0;
                      // if read continuous mode is enabled for multiple devices,
                      // determine which device to stop reading and remove it's data from
                      // the array, shifiting other array data to fill the space
                      for (byte i = 0; i < queryIndex + 1; i++) {
                        if (query[i].addr == slaveAddress) {
                          queryIndexToSkip = i;
                          break;
                        }
                      }
                      for (byte i = queryIndexToSkip; i < queryIndex + 1; i++) {
                        if (i < I2C_MAX_QUERIES) {
                          query[i].addr = query[i + 1].addr;
                          query[i].reg = query[i + 1].reg;
                          query[i].bytes = query[i + 1].bytes;
                          query[i].stopTX = query[i + 1].stopTX;
                        }
                      }
                      queryIndex--;
                    }
                    break;
                  default:
                    break;
                }
                break;
              case I2C_CONFIG:
                delayTime = (argv[0] + (argv[1] << 7));
                if (argc > 1 && delayTime > 0) {
                  i2cReadDelayTime = delayTime;
                }
                if (!isI2CEnabled) {
                  enableI2CPins();
                }
                break;
              case SERVO_CONFIG:
                if (argc > 4) {
                  // these vars are here for clarity, they'll optimized away by the compiler
                  byte pin = argv[0];
                  int minPulse = argv[1] + (argv[2] << 7);
                  int maxPulse = argv[3] + (argv[4] << 7);
                  if (IS_PIN_DIGITAL(pin)) {
                    if (servoPinMap[pin] < MAX_SERVOS && servos[servoPinMap[pin]].attached()) {
                      detachServo(pin);
                    }
                    attachServo(pin, minPulse, maxPulse);
                    setPinModeCallback(pin, PIN_MODE_SERVO);
                  }
                }
                break;
              case SAMPLING_INTERVAL:
                if (argc > 1) {
                  samplingInterval = argv[0] + (argv[1] << 7);
                  if (samplingInterval < MINIMUM_SAMPLING_INTERVAL) {
                    samplingInterval = MINIMUM_SAMPLING_INTERVAL;
                  }
                } else {
                  //Firmata.sendString("Not enough data");
                }
                break;
              case EXTENDED_ANALOG:
                if (argc > 1) {
                  int val = argv[1];
                  if (argc > 2) val |= (argv[2] << 7);
                  if (argc > 3) val |= (argv[3] << 14);
                  analogWriteCallback(argv[0], val);
                }
                break;
              case CAPABILITY_QUERY:
                Firmata.write(START_SYSEX);
                Firmata.write(CAPABILITY_RESPONSE);
                for (byte pin = 0; pin < TOTAL_PINS; pin++) {
                  if (IS_PIN_DIGITAL(pin)) {
                    Firmata.write((byte)INPUT);
                    Firmata.write(1);
                    Firmata.write((byte)PIN_MODE_PULLUP);
                    Firmata.write(1);
                    Firmata.write((byte)OUTPUT);
                    Firmata.write(1);
                  }
                  if (IS_PIN_ANALOG(pin)) {
                    Firmata.write(PIN_MODE_ANALOG);
                    Firmata.write(10); // 10 = 10-bit resolution
                  }
                  if (IS_PIN_PWM(pin)) {
                    Firmata.write(PIN_MODE_PWM);
                    Firmata.write(DEFAULT_PWM_RESOLUTION);
                  }
                  if (IS_PIN_DIGITAL(pin)) {
                    Firmata.write(PIN_MODE_SERVO);
                    Firmata.write(14);
                  }
                  if (IS_PIN_I2C(pin)) {
                    Firmata.write(PIN_MODE_I2C);
                    Firmata.write(1);  // TODO: could assign a number to map to SCL or SDA
                  }
          #ifdef FIRMATA_SERIAL_FEATURE
                  serialFeature.handleCapability(pin);
          #endif
                  Firmata.write(127);
                }
                Firmata.write(END_SYSEX);
                break;
              case PIN_STATE_QUERY:
                if (argc > 0) {
                  byte pin = argv[0];
                  Firmata.write(START_SYSEX);
                  Firmata.write(PIN_STATE_RESPONSE);
                  Firmata.write(pin);
                  if (pin < TOTAL_PINS) {
                    Firmata.write(Firmata.getPinMode(pin));
                    Firmata.write((byte)Firmata.getPinState(pin) & 0x7F);
                    if (Firmata.getPinState(pin) & 0xFF80) Firmata.write((byte)(Firmata.getPinState(pin) >> 7) & 0x7F);
                    if (Firmata.getPinState(pin) & 0xC000) Firmata.write((byte)(Firmata.getPinState(pin) >> 14) & 0x7F);
                  }
                  Firmata.write(END_SYSEX);
                }
                break;
              case ANALOG_MAPPING_QUERY:
                Firmata.write(START_SYSEX);
                Firmata.write(ANALOG_MAPPING_RESPONSE);
                for (byte pin = 0; pin < TOTAL_PINS; pin++) {
                  Firmata.write(IS_PIN_ANALOG(pin) ? PIN_TO_ANALOG(pin) : 127);
                }
                Firmata.write(END_SYSEX);
                break;
              case SERIAL_MESSAGE:
          #ifdef FIRMATA_SERIAL_FEATURE
                serialFeature.handleSysex(command, argc, argv);
          #endif
                break;
            }
          }
          /*==============================================================================
           * SETUP()
           *============================================================================*/
          void systemResetCallback()
          {
            isResetting = true;
            // initialize a defalt state
            // TODO: option to load config from EEPROM instead of default
          #ifdef FIRMATA_SERIAL_FEATURE
            serialFeature.reset();
          #endif
            if (isI2CEnabled) {
              disableI2CPins();
            }
            for (byte i = 0; i < TOTAL_PORTS; i++) {
              reportPINs[i] = false;    // by default, reporting off
              portConfigInputs[i] = 0;  // until activated
              previousPINs[i] = 0;
            }
            for (byte i = 0; i < TOTAL_PINS; i++) {
              // pins with analog capability default to analog input
              // otherwise, pins default to digital output
              if (IS_PIN_ANALOG(i)) {
                // turns off pullup, configures everything
                setPinModeCallback(i, PIN_MODE_ANALOG);
              } else if (IS_PIN_DIGITAL(i)) {
                // sets the output to 0, configures portConfigInputs
                setPinModeCallback(i, OUTPUT);
              }
              servoPinMap[i] = 255;
            }
            // by default, do not report any analog inputs
            analogInputsToReport = 0;
            detachedServoCount = 0;
            servoCount = 0;
            /* send digital inputs to set the initial state on the host computer,
             * since once in the loop(), this firmware will only send on change */
            /*
            TODO: this can never execute, since no pins default to digital input
                  but it will be needed when/if we support EEPROM stored config
            for (byte i=0; i < TOTAL_PORTS; i++) {
              outputPort(i, readPort(i, portConfigInputs[i]), true);
            }
            */
            isResetting = false;
          }
          void setup()
          {
            Firmata.setFirmwareVersion(FIRMATA_FIRMWARE_MAJOR_VERSION, FIRMATA_FIRMWARE_MINOR_VERSION);
            Firmata.attach(ANALOG_MESSAGE, analogWriteCallback);
            Firmata.attach(DIGITAL_MESSAGE, digitalWriteCallback);
            Firmata.attach(REPORT_ANALOG, reportAnalogCallback);
            Firmata.attach(REPORT_DIGITAL, reportDigitalCallback);
            Firmata.attach(SET_PIN_MODE, setPinModeCallback);
            Firmata.attach(SET_DIGITAL_PIN_VALUE, setPinValueCallback);
            Firmata.attach(START_SYSEX, sysexCallback);
            Firmata.attach(SYSTEM_RESET, systemResetCallback);
            // to use a port other than Serial, such as Serial1 on an Arduino Leonardo or Mega,
            // Call begin(baud) on the alternate serial port and pass it to Firmata to begin like this:
            // Serial1.begin(57600);
            // Firmata.begin(Serial1);
            // However do not do this if you are using SERIAL_MESSAGE
            Firmata.begin(57600);
            while (!Serial) {
              ; // wait for serial port to connect. Needed for ATmega32u4-based boards and Arduino 101
            }
            systemResetCallback();  // reset to default config
          }
          /*==============================================================================
           * LOOP()
           *============================================================================*/
          void loop()
          {
            byte pin, analogPin;
            /* DIGITALREAD - as fast as possible, check for changes and output them to the
             * FTDI buffer using Serial.print()  */
            checkDigitalInputs();
            /* STREAMREAD - processing incoming messagse as soon as possible, while still
             * checking digital inputs.  */
            while (Firmata.available())
              Firmata.processInput();
            // TODO - ensure that Stream buffer doesn't go over 60 bytes
            currentMillis = millis();
            if (currentMillis - previousMillis > samplingInterval) {
              previousMillis += samplingInterval;
              /* ANALOGREAD - do all analogReads() at the configured sampling interval */
              for (pin = 0; pin < TOTAL_PINS; pin++) {
                if (IS_PIN_ANALOG(pin) && Firmata.getPinMode(pin) == PIN_MODE_ANALOG) {
                  analogPin = PIN_TO_ANALOG(pin);
                  if (analogInputsToReport & (1 << analogPin)) {
                    Firmata.sendAnalog(analogPin, analogRead(analogPin));
                  }
                }
              }
              // report i2c data for all device with read continuous mode enabled
              if (queryIndex > -1) {
                for (byte i = 0; i < queryIndex + 1; i++) {
                  readAndReportData(query[i].addr, query[i].reg, query[i].bytes, query[i].stopTX);
                }
              }
            }
          #ifdef FIRMATA_SERIAL_FEATURE
            serialFeature.update();
          #endif
          }</firmata.h></wire.h></servo.h>
          
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