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simisimis
2018-08-08 08:33:26 +02:00
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libraries/Adafruit_BLEFirmata/examples/CircuitPlayground_nrf51822/CircuitPlayground_nrf51822.ino Normal file
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// Adafruit Circuit Playground Bluefruit LE Friend Firmata Firmware
//
// This is a basic 'standard firmata' firmware that allows digital IO and other
// control of some (but not all) Circuit Playground components. You can read
// the push buttons (digital pins 4, 19) and slide switch (pin 21). You can light
// up the onboard pin 13 LED, but you can't light the NeoPixels on the board
// with this sketch (standard firmata doesn't support NeoPixels right now).
//
// Note this sketch is customized to ONLY work with Circuit Playground. Trying
// to use this sketch on other boards will NOT work. Use the BluefruitLE_nrf51822
// example instead and customize it for your board.
//
// By default this sketch assumes you are connecting to a Bluefruit LE friend
// using a hardware serial connection which is easiest on Circuit Playground.
// The Flora Bluefruit LE module (https://www.adafruit.com/products/2487) is the
// best option as it can easily be connected to Circuit Playground with alligator
// clips.
//
// Make the following connections between the Bluefruit LE module and Circuit Playground:
// - Bluefruit LE RX -> Circuit Playground TX #1
// - Bluefruit LE TX -> Circuit Playground RX #0
// - Bluefruit LE 3.3V -> Circuit Playground 3.3V
// - Bluefruit LE GND -> Circuit Playground GND
// - Bluefruit LE MODE -> Circuit Playground #12 (or any other digital input
// on Circuit Playground, but make sure to modify BluefruitConfig.h too!)
//
// Finally make sure the Bluefruit LE slide switch is in the DATA position. This
// is VERY important and the sketch won't work if it's in the CMD command mode!
#include <Servo.h>
#include <Wire.h>
#include <SPI.h>
#include <Adafruit_BLE_Firmata.h>
// Change this to whatever is the Serial console you want, either Serial or SerialUSB
#define FIRMATADEBUG Serial
// Pause for Serial console before beginning?
#define WAITFORSERIAL false
// Print all BLE interactions?
#define VERBOSE_MODE false
/************************ CONFIGURATION SECTION ***********************************/
// You don't need to change this, it's setup for Circuit Playground already:
uint8_t boards_digitaliopins[] = {2,3,4,5,6,9,10,13,19,21};
uint8_t boards_analogiopins[] = {A0, A4, A5}; // A0 == digital 14, etc
uint8_t boards_pwmpins[] = {5, 6, 9, 10, 13};
uint8_t boards_servopins[] = {9, 10};
uint8_t boards_i2cpins[] = {SDA, SCL};
#define TOTAL_PINS NUM_DIGITAL_PINS /* highest number in boards_digitaliopins MEMEFIXME:automate */
#define TOTAL_PORTS ((TOTAL_PINS + 7) / 8)
/***********************************************************/
#include "Adafruit_BLE_Firmata_Boards.h"
#include "Adafruit_BLE.h"
#include "Adafruit_BluefruitLE_SPI.h"
#include "Adafruit_BluefruitLE_UART.h"
#include "BluefruitConfig.h"
// Create the bluefruit object, either software serial...uncomment these lines
/*
SoftwareSerial bluefruitSS = SoftwareSerial(BLUEFRUIT_SWUART_TXD_PIN, BLUEFRUIT_SWUART_RXD_PIN);
Adafruit_BluefruitLE_UART bluefruit(bluefruitSS, BLUEFRUIT_UART_MODE_PIN,
BLUEFRUIT_UART_CTS_PIN, BLUEFRUIT_UART_RTS_PIN);
*/
/* ...or hardware serial, which does not need the RTS/CTS pins. Uncomment this line */
Adafruit_BluefruitLE_UART bluefruit(BLUEFRUIT_HWSERIAL_NAME, BLUEFRUIT_UART_MODE_PIN);
/* ...hardware SPI, using SCK/MOSI/MISO hardware SPI pins and then user selected CS/IRQ/RST */
//Adafruit_BluefruitLE_SPI bluefruit(BLUEFRUIT_SPI_CS, BLUEFRUIT_SPI_IRQ, BLUEFRUIT_SPI_RST);
/* ...software SPI, using SCK/MOSI/MISO user-defined SPI pins and then user selected CS/IRQ/RST */
//Adafruit_BluefruitLE_SPI bluefruit(BLUEFRUIT_SPI_SCK, BLUEFRUIT_SPI_MISO,
// BLUEFRUIT_SPI_MOSI, BLUEFRUIT_SPI_CS,
// BLUEFRUIT_SPI_IRQ, BLUEFRUIT_SPI_RST);
#define AUTO_INPUT_PULLUPS true
// our current connection status
boolean lastBTLEstatus, BTLEstatus;
// make one instance for the user to use
Adafruit_BLE_FirmataClass BLE_Firmata = Adafruit_BLE_FirmataClass(bluefruit);
// A small helper
void error(const __FlashStringHelper*err) {
FIRMATADEBUG.println(err);
while (1);
}
/*==============================================================================
* GLOBAL VARIABLES
*============================================================================*/
/* analog inputs */
int analogInputsToReport = 0; // bitwise array to store pin reporting
int lastAnalogReads[NUM_ANALOG_INPUTS];
/* digital input ports */
byte reportPINs[TOTAL_PORTS]; // 1 = report this port, 0 = silence
byte previousPINs[TOTAL_PORTS]; // previous 8 bits sent
/* pins configuration */
byte pinConfig[TOTAL_PINS]; // configuration of every pin
byte portConfigInputs[TOTAL_PORTS]; // each bit: 1 = pin in INPUT, 0 = anything else
int pinState[TOTAL_PINS]; // any value that has been written
/* timer variables */
unsigned long currentMillis; // store the current value from millis()
unsigned long previousMillis; // for comparison with currentMillis
int samplingInterval = 200; // how often to run the main loop (in ms)
#define MINIMUM_SAMPLE_DELAY 150
#define ANALOG_SAMPLE_DELAY 50
/* 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 isI2CEnabled = false;
signed char queryIndex = -1;
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()) {
BLE_Firmata.sendString("I2C Read Error: Too many bytes received");
} else {
BLE_Firmata.sendString("I2C Read Error: Too few bytes received");
}
}
// send slave address, register and received bytes
BLE_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) {
//FIRMATADEBUG.print(F("Sending update for port ")); FIRMATADEBUG.print(portNumber); FIRMATADEBUG.print(" = 0x"); FIRMATADEBUG.println(portValue, HEX);
BLE_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 () */
void checkDigitalInputs(boolean forceSend = false)
{
/* 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. */
for (uint8_t i=0; i<TOTAL_PORTS; i++) {
if (reportPINs[i]) {
// FIRMATADEBUG.print("Reporting on port "); FIRMATADEBUG.print(i); FIRMATADEBUG.print(" mask 0x"); FIRMATADEBUG.println(portConfigInputs[i], HEX);
uint8_t x = BLE_Firmata.readPort(i, portConfigInputs[i]);
// FIRMATADEBUG.print("Read 0x"); FIRMATADEBUG.println(x, HEX);
outputPort(i, x, forceSend);
}
}
}
// -----------------------------------------------------------------------------
/* 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)
{
//FIRMATADEBUG.print("Setting pin #"); FIRMATADEBUG.print(pin); FIRMATADEBUG.print(" to "); FIRMATADEBUG.println(mode);
if ((pinConfig[pin] == I2C) && (isI2CEnabled) && (mode != I2C)) {
// disable i2c so pins can be used for other functions
// the following if statements should reconfigure the pins properly
disableI2CPins();
}
if (BLE_Firmata.IS_PIN_SERVO(pin) && mode != SERVO && servos[BLE_Firmata.PIN_TO_SERVO(pin)].attached()) {
servos[BLE_Firmata.PIN_TO_SERVO(pin)].detach();
}
if (BLE_Firmata.IS_PIN_ANALOG(pin)) {
reportAnalogCallback(BLE_Firmata.PIN_TO_ANALOG(pin), mode == ANALOG ? 1 : 0); // turn on/off reporting
}
if (BLE_Firmata.IS_PIN_DIGITAL(pin)) {
if (mode == INPUT) {
portConfigInputs[pin/8] |= (1 << (pin & 7));
} else {
portConfigInputs[pin/8] &= ~(1 << (pin & 7));
}
// FIRMATADEBUG.print(F("Setting pin #")); FIRMATADEBUG.print(pin); FIRMATADEBUG.print(F(" port config mask to = 0x"));
// FIRMATADEBUG.println(portConfigInputs[pin/8], HEX);
}
pinState[pin] = 0;
switch(mode) {
case ANALOG:
if (BLE_Firmata.IS_PIN_ANALOG(pin)) {
FIRMATADEBUG.print(F("Set pin #")); FIRMATADEBUG.print(pin); FIRMATADEBUG.println(F(" to analog"));
if (BLE_Firmata.IS_PIN_DIGITAL(pin)) {
pinMode(BLE_Firmata.PIN_TO_DIGITAL(pin), INPUT); // disable output driver
}
pinConfig[pin] = ANALOG;
lastAnalogReads[BLE_Firmata.PIN_TO_ANALOG(pin)] = -1;
}
break;
case INPUT:
if (BLE_Firmata.IS_PIN_DIGITAL(pin)) {
FIRMATADEBUG.print(F("Set pin #")); FIRMATADEBUG.print(pin); FIRMATADEBUG.println(F(" to input"));
if (AUTO_INPUT_PULLUPS) {
pinMode(BLE_Firmata.PIN_TO_DIGITAL(pin), INPUT_PULLUP); // disable output driver
} else {
pinMode(BLE_Firmata.PIN_TO_DIGITAL(pin), INPUT); // disable output driver
}
pinConfig[pin] = INPUT;
// force sending state immediately
//delay(10);
//checkDigitalInputs(true);
}
break;
case OUTPUT:
if (BLE_Firmata.IS_PIN_DIGITAL(pin)) {
FIRMATADEBUG.print(F("Set pin #")); FIRMATADEBUG.print(pin); FIRMATADEBUG.println(F(" to output"));
digitalWrite(BLE_Firmata.PIN_TO_DIGITAL(pin), LOW); // disable PWM
pinMode(BLE_Firmata.PIN_TO_DIGITAL(pin), OUTPUT);
pinConfig[pin] = OUTPUT;
}
break;
case PWM:
if (BLE_Firmata.IS_PIN_PWM(pin)) {
FIRMATADEBUG.print(F("Set pin #")); FIRMATADEBUG.print(pin); FIRMATADEBUG.println(F(" to PWM"));
pinMode(BLE_Firmata.PIN_TO_PWM(pin), OUTPUT);
analogWrite(BLE_Firmata.PIN_TO_PWM(pin), 0);
pinConfig[pin] = PWM;
}
break;
case SERVO:
if (BLE_Firmata.IS_PIN_SERVO(pin)) {
pinConfig[pin] = SERVO;
if (!servos[BLE_Firmata.PIN_TO_SERVO(pin)].attached()) {
servos[BLE_Firmata.PIN_TO_SERVO(pin)].attach(BLE_Firmata.PIN_TO_DIGITAL(pin));
}
}
break;
case I2C:
if (BLE_Firmata.IS_PIN_I2C(pin)) {
// mark the pin as i2c
// the user must call I2C_CONFIG to enable I2C for a device
pinConfig[pin] = I2C;
}
break;
default:
FIRMATADEBUG.print(F("Unknown pin mode")); // TODO: put error msgs in EEPROM
}
// TODO: save status to EEPROM here, if changed
}
void analogWriteCallback(byte pin, int value)
{
if (pin < TOTAL_PINS) {
switch(pinConfig[pin]) {
case SERVO:
if (BLE_Firmata.IS_PIN_SERVO(pin))
servos[BLE_Firmata.PIN_TO_SERVO(pin)].write(value);
pinState[pin] = value;
break;
case PWM:
if (BLE_Firmata.IS_PIN_PWM(pin))
analogWrite(BLE_Firmata.PIN_TO_PWM(pin), value);
FIRMATADEBUG.print("pwm("); FIRMATADEBUG.print(BLE_Firmata.PIN_TO_PWM(pin)); FIRMATADEBUG.print(","); FIRMATADEBUG.print(value); FIRMATADEBUG.println(")");
pinState[pin] = value;
break;
}
}
}
void digitalWriteCallback(byte port, int value)
{
//FIRMATADEBUG.print("DWCx"); FIRMATADEBUG.print(port, HEX); FIRMATADEBUG.print(" "); FIRMATADEBUG.println(value);
byte pin, lastPin, 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 (BLE_Firmata.IS_PIN_DIGITAL(pin)) {
// only write to OUTPUT
// do not touch pins in PWM, ANALOG, SERVO or other modes
if (pinConfig[pin] == OUTPUT) {
pinWriteMask |= mask;
pinState[pin] = ((byte)value & mask) ? 1 : 0;
}
}
mask = mask << 1;
}
FIRMATADEBUG.print(F("Write digital port #")); FIRMATADEBUG.print(port);
FIRMATADEBUG.print(F(" = 0x")); FIRMATADEBUG.print(value, HEX);
FIRMATADEBUG.print(F(" mask = 0x")); FIRMATADEBUG.println(pinWriteMask, HEX);
BLE_Firmata.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 < BLE_Firmata._num_analogiopins) {
if(value == 0) {
analogInputsToReport = analogInputsToReport &~ (1 << analogPin);
FIRMATADEBUG.print(F("Stop reporting analog pin #")); FIRMATADEBUG.println(analogPin);
} else {
analogInputsToReport |= (1 << analogPin);
FIRMATADEBUG.print(F("Will report analog pin #")); FIRMATADEBUG.println(analogPin);
}
}
// TODO: save status to EEPROM here, if changed
}
void reportDigitalCallback(byte port, int value)
{
if (port < TOTAL_PORTS) {
//FIRMATADEBUG.print(F("Will report 0x")); FIRMATADEBUG.print(value, HEX); FIRMATADEBUG.print(F(" digital mask on port ")); FIRMATADEBUG.println(port);
reportPINs[port] = (byte)value;
}
// 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 slaveAddress;
byte slaveRegister;
byte data;
unsigned int delayTime;
FIRMATADEBUG.println("********** Sysex callback");
switch(command) {
case I2C_REQUEST:
mode = argv[1] & I2C_READ_WRITE_MODE_MASK;
if (argv[1] & I2C_10BIT_ADDRESS_MODE_MASK) {
//BLE_Firmata.sendString("10-bit addressing mode is not yet supported");
FIRMATADEBUG.println(F("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
BLE_Firmata.sendString("too many queries");
break;
}
queryIndex++;
query[queryIndex].addr = slaveAddress;
query[queryIndex].reg = argv[2] + (argv[3] << 7);
query[queryIndex].bytes = argv[4] + (argv[5] << 7);
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 < MAX_QUERIES) {
query[i].addr = query[i+1].addr;
query[i].reg = query[i+1].addr;
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 (BLE_Firmata.IS_PIN_SERVO(pin)) {
if (servos[BLE_Firmata.PIN_TO_SERVO(pin)].attached())
servos[BLE_Firmata.PIN_TO_SERVO(pin)].detach();
servos[BLE_Firmata.PIN_TO_SERVO(pin)].attach(BLE_Firmata.PIN_TO_DIGITAL(pin), minPulse, maxPulse);
setPinModeCallback(pin, SERVO);
}
}
break;
case SAMPLING_INTERVAL:
if (argc > 1) {
samplingInterval = argv[0] + (argv[1] << 7);
if (samplingInterval < MINIMUM_SAMPLING_INTERVAL) {
samplingInterval = MINIMUM_SAMPLING_INTERVAL;
}
} else {
//BLE_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:
bluefruit.write(START_SYSEX);
bluefruit.write(CAPABILITY_RESPONSE);
//FIRMATADEBUG.print(" 0x"); FIRMATADEBUG.print(START_SYSEX, HEX); FIRMATADEBUG.print(" 0x"); FIRMATADEBUG.println(CAPABILITY_RESPONSE, HEX);
delay(10);
for (byte pin=0; pin < TOTAL_PINS; pin++) {
//FIRMATADEBUG.print("\t#"); FIRMATADEBUG.println(pin);
if (BLE_Firmata.IS_PIN_DIGITAL(pin)) {
bluefruit.write((byte)INPUT);
bluefruit.write(1);
bluefruit.write((byte)OUTPUT);
bluefruit.write(1);
/*
FIRMATADEBUG.print(" 0x"); FIRMATADEBUG.print(INPUT, HEX);
FIRMATADEBUG.print(" 0x"); FIRMATADEBUG.print(1, HEX);
FIRMATADEBUG.print(" 0x"); FIRMATADEBUG.print(OUTPUT, HEX);
FIRMATADEBUG.print(" 0x"); FIRMATADEBUG.println(1, HEX);
*/
delay(20);
} else {
bluefruit.write(127);
//FIRMATADEBUG.print(" 0x"); FIRMATADEBUG.println(127, HEX);
delay(20);
continue;
}
if (BLE_Firmata.IS_PIN_ANALOG(pin)) {
bluefruit.write(ANALOG);
bluefruit.write(10);
//FIRMATADEBUG.print(" 0x"); FIRMATADEBUG.print(ANALOG, HEX); FIRMATADEBUG.print(" 0x"); FIRMATADEBUG.println(10, HEX);
delay(20);
}
if (BLE_Firmata.IS_PIN_PWM(pin)) {
bluefruit.write(PWM);
bluefruit.write(8);
//FIRMATADEBUG.print(" 0x"); FIRMATADEBUG.print(PWM, HEX); FIRMATADEBUG.print(" 0x"); FIRMATADEBUG.println(8, HEX);
delay(20);
}
if (BLE_Firmata.IS_PIN_SERVO(pin)) {
bluefruit.write(SERVO);
bluefruit.write(14);
//FIRMATADEBUG.print(" 0x"); FIRMATADEBUG.print(SERVO, HEX);FIRMATADEBUG.print(" 0x"); FIRMATADEBUG.println(14, HEX);
delay(20);
}
if (BLE_Firmata.IS_PIN_I2C(pin)) {
bluefruit.write(I2C);
bluefruit.write(1); // to do: determine appropriate value
delay(20);
}
bluefruit.write(127);
//FIRMATADEBUG.print(" 0x"); FIRMATADEBUG.println(127, HEX);
}
bluefruit.write(END_SYSEX);
//FIRMATADEBUG.print(" 0x"); FIRMATADEBUG.println(END_SYSEX, HEX);
break;
case PIN_STATE_QUERY:
if (argc > 0) {
byte pin=argv[0];
bluefruit.write(START_SYSEX);
bluefruit.write(PIN_STATE_RESPONSE);
bluefruit.write(pin);
if (pin < TOTAL_PINS) {
bluefruit.write((byte)pinConfig[pin]);
bluefruit.write((byte)pinState[pin] & 0x7F);
if (pinState[pin] & 0xFF80) bluefruit.write((byte)(pinState[pin] >> 7) & 0x7F);
if (pinState[pin] & 0xC000) bluefruit.write((byte)(pinState[pin] >> 14) & 0x7F);
}
bluefruit.write(END_SYSEX);
}
break;
case ANALOG_MAPPING_QUERY:
FIRMATADEBUG.println("Analog mapping query");
bluefruit.write(START_SYSEX);
bluefruit.write(ANALOG_MAPPING_RESPONSE);
for (byte pin=0; pin < TOTAL_PINS; pin++) {
bluefruit.write(BLE_Firmata.IS_PIN_ANALOG(pin) ? BLE_Firmata.PIN_TO_ANALOG(pin) : 127);
}
bluefruit.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(BLE_Firmata.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();
}
/* 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;
// uncomment the following if or when the end() method is added to Wire library
// Wire.end();
}
/*==============================================================================
* SETUP()
*============================================================================*/
void systemResetCallback()
{
// initialize a defalt state
FIRMATADEBUG.println(F("***RESET***"));
// TODO: option to load config from EEPROM instead of default
if (isI2CEnabled) {
disableI2CPins();
}
for (byte i=0; i < TOTAL_PORTS; i++) {
reportPINs[i] = false; // by default, reporting off
portConfigInputs[i] = 0; // until activated
previousPINs[i] = 0;
}
// pins with analog capability default to analog input
// otherwise, pins default to digital output
for (byte i=0; i < TOTAL_PINS; i++) {
if (BLE_Firmata.IS_PIN_ANALOG(i)) {
// turns off pullup, configures everything
setPinModeCallback(i, ANALOG);
} else {
// sets the output to 0, configures portConfigInputs
setPinModeCallback(i, INPUT);
}
}
// by default, do not report any analog inputs
analogInputsToReport = 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);
}
*/
}
void setup()
{
if (WAITFORSERIAL) {
while (!FIRMATADEBUG) delay(1);
}
FIRMATADEBUG.begin(9600);
FIRMATADEBUG.println(F("Adafruit Bluefruit LE Firmata test"));
FIRMATADEBUG.print("Total pins: "); FIRMATADEBUG.println(NUM_DIGITAL_PINS);
FIRMATADEBUG.print("Analog pins: "); FIRMATADEBUG.println(sizeof(boards_analogiopins));
//for (uint8_t i=0; i<sizeof(boards_analogiopins); i++) {
// FIRMATADEBUG.println(boards_analogiopins[i]);
//}
BLE_Firmata.setUsablePins(boards_digitaliopins, sizeof(boards_digitaliopins),
boards_analogiopins, sizeof(boards_analogiopins),
boards_pwmpins, sizeof(boards_pwmpins),
boards_servopins, sizeof(boards_servopins), SDA, SCL);
/* Initialise the module */
FIRMATADEBUG.print(F("Initialising the Bluefruit LE module: "));
if ( !bluefruit.begin(VERBOSE_MODE) )
{
error(F("Couldn't find Bluefruit, make sure it's in CoMmanD mode & check wiring?"));
}
FIRMATADEBUG.println( F("OK!") );
/* Perform a factory reset to make sure everything is in a known state */
FIRMATADEBUG.println(F("Performing a factory reset: "));
if (! bluefruit.factoryReset() ){
error(F("Couldn't factory reset"));
}
/* Disable command echo from Bluefruit */
bluefruit.echo(false);
FIRMATADEBUG.println("Requesting Bluefruit info:");
/* Print Bluefruit information */
bluefruit.info();
FIRMATADEBUG.println("Setting name to BLE Firmata");
bluefruit.println("AT+GAPDEVNAME=BLE_Firmata");
BTLEstatus = false;
}
void firmataInit() {
FIRMATADEBUG.println(F("Init firmata"));
//BLE_Firmata.setFirmwareVersion(FIRMATA_MAJOR_VERSION, FIRMATA_MINOR_VERSION);
//FIRMATADEBUG.println(F("firmata analog"));
BLE_Firmata.attach(ANALOG_MESSAGE, analogWriteCallback);
//FIRMATADEBUG.println(F("firmata digital"));
BLE_Firmata.attach(DIGITAL_MESSAGE, digitalWriteCallback);
//FIRMATADEBUG.println(F("firmata analog report"));
BLE_Firmata.attach(REPORT_ANALOG, reportAnalogCallback);
//FIRMATADEBUG.println(F("firmata digital report"));
BLE_Firmata.attach(REPORT_DIGITAL, reportDigitalCallback);
//FIRMATADEBUG.println(F("firmata pinmode"));
BLE_Firmata.attach(SET_PIN_MODE, setPinModeCallback);
//FIRMATADEBUG.println(F("firmata sysex"));
BLE_Firmata.attach(START_SYSEX, sysexCallback);
//FIRMATADEBUG.println(F("firmata reset"));
BLE_Firmata.attach(SYSTEM_RESET, systemResetCallback);
FIRMATADEBUG.println(F("Begin firmata"));
BLE_Firmata.begin();
systemResetCallback(); // reset to default config
}
/*==============================================================================
* LOOP()
*============================================================================*/
void loop()
{
delay(100);
// Link status check
if (! BTLEstatus) {
bluefruit.setMode(BLUEFRUIT_MODE_COMMAND);
BTLEstatus = bluefruit.isConnected();
bluefruit.setMode(BLUEFRUIT_MODE_DATA);
}
// Check if something has changed
if (BTLEstatus != lastBTLEstatus) {
// print it out!
if (BTLEstatus == true) {
FIRMATADEBUG.println(F("* Connected!"));
// initialize Firmata cleanly
bluefruit.setMode(BLUEFRUIT_MODE_DATA);
firmataInit();
}
if (BTLEstatus == false) {
FIRMATADEBUG.println(F("* Disconnected or advertising timed out"));
}
// OK set the last status change to this one
lastBTLEstatus = BTLEstatus;
}
// if not connected... bail
if (! BTLEstatus) {
delay(100);
return;
}
// For debugging, see if there's data on the serial console, we would forwad it to BTLE
if (FIRMATADEBUG.available()) {
bluefruit.write(FIRMATADEBUG.read());
}
// Onto the Firmata main loop
byte pin, analogPin;
/* DIGITALREAD - as fast as possible, check for changes and output them to the
* BTLE buffer using FIRMATADEBUG.print() */
checkDigitalInputs();
/* SERIALREAD - processing incoming messagse as soon as possible, while still
* checking digital inputs. */
while(BLE_Firmata.available()) {
// FIRMATADEBUG.println(F("*data available*"));
BLE_Firmata.processInput();
}
/* SEND FTDI WRITE BUFFER - make sure that the FTDI buffer doesn't go over
* 60 bytes. use a timer to sending an event character every 4 ms to
* trigger the buffer to dump. */
// make the sampling interval longer if we have more analog inputs!
uint8_t analogreportnums = 0;
for(uint8_t a=0; a<8; a++) {
if (analogInputsToReport & (1 << a)) {
analogreportnums++;
}
}
samplingInterval = (uint16_t)MINIMUM_SAMPLE_DELAY + (uint16_t)ANALOG_SAMPLE_DELAY * (1+analogreportnums);
currentMillis = millis();
if (currentMillis - previousMillis > samplingInterval) {
previousMillis += samplingInterval;
/* ANALOGREAD - do all analogReads() at the configured sampling interval */
for(pin=0; pin<TOTAL_PINS; pin++) {
// FIRMATADEBUG.print("pin #"); FIRMATADEBUG.print(pin); FIRMATADEBUG.print(" config = "); FIRMATADEBUG.println(pinConfig[pin]);
if (BLE_Firmata.IS_PIN_ANALOG(pin) && (pinConfig[pin] == ANALOG)) {
analogPin = BLE_Firmata.PIN_TO_ANALOG(pin);
if (analogInputsToReport & (1 << analogPin)) {
int currentRead = analogRead(analogPin);
if ((lastAnalogReads[analogPin] == -1) || (lastAnalogReads[analogPin] != currentRead)) {
//FIRMATADEBUG.print(F("Analog")); FIRMATADEBUG.print(analogPin); FIRMATADEBUG.print(F(" = ")); FIRMATADEBUG.println(currentRead);
BLE_Firmata.sendAnalog(analogPin, currentRead);
lastAnalogReads[analogPin] = currentRead;
}
}
}
}
// 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);
}
}
}
}