framework2
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1/*2* 11/5/15:3* - updated for arduino 2.5.0 and configurable firmata4*5* 1/9/13:6* - Fixed issue where digitalPinchange7*8* 9/28/11:9* - updated to be Firmata 2.3/Arduino 1.0 compatible10* - fixed ability to use analog pins as digital inputs11*12* 3/5/11:13* - added servo support for firmata 2.2 and greater (should be14* backwards compatible with Erik Sjodin's older firmata servo15* implementation)16*17*18* Copyright 2007-2008 (c) Erik Sjodin, eriksjodin.net19* Wiring version 2011 (c) Carlos Mario Rodriguez and Hernando Barragan20* Updates 2015 (c) Dom Amato21*22* Devloped at: The Interactive Institutet / Art and Technology,23* OF Lab / Ars Electronica24*25* Permission is hereby granted, free of charge, to any person26* obtaining a copy of this software and associated documentation27* files (the "Software"), to deal in the Software without28* restriction, including without limitation the rights to use,29* copy, modify, merge, publish, distribute, sublicense, and/or sell30* copies of the Software, and to permit persons to whom the31* Software is furnished to do so, subject to the following32* conditions:33*34* The above copyright notice and this permission notice shall be35* included in all copies or substantial _portions of the Software.36*37* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,38* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES39* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND40* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT41* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,42* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING43* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR44* OTHER DEALINGS IN THE SOFTWARE.45*/46}108}112// initialize pins once we get the Firmata version back from the Arduino board114// the version is sent automatically by the Arduino board on startup115void ofArduino::initPins() {116}158}166// this method is not recommended168// the preferred method is to listen for the EInitialized event in your application169bool ofArduino::isArduinoReady() {170if (bUseDelay) {171if (!_initialized && (ofGetElapsedTimef() - connectTime) > OF_ARDUINO_DELAY_LENGTH) {172sendPinCapabilityRequest();173connected = true;174}175}176return connected;177}178}182}188}194}200}206}210}223}240}255}271}275}279}286}310}325}336}340}344}355}359}365//this currently isn't supported as the resonse is not mapped367void ofArduino::sendPinCofigurationRequest() {368sendByte(START_SYSEX);369sendByte(PIN_STATE_QUERY);370sendByte(END_SYSEX);371}372}378{381sendByte(START_SYSEX);382sendByte(ANALOG_MAPPING_QUERY);383sendByte(END_SYSEX);384}385{388sendByte(START_SYSEX);389sendByte(PIN_STATE_QUERY);390sendByte(pin & 0x7f);391sendByte(END_SYSEX);392}393}397}411}498}511}523}530}534}538}542}546}550}554}559// ------------------------------ private functions561}658// sysex data is assumed to be 8-bit bytes split into two 7-bit bytes.660void ofArduino::processSysExData(vector <unsigned char> data) {661}1007}1036}1042}1051}1055// in Firmata (and MIDI) data bytes are 7-bits. The 8th bit serves as a flag to mark a byte as either command or data.1057// therefore you need two data bytes to send 8-bits (a char).1058void ofArduino::sendValueAsTwo7bitBytes(int value) {1059sendByte(value & 127); // LSB1060sendByte(value >> 7 & 127); // MSB1061}1062// SysEx data is sent as 8-bit bytes split into two 7-bit bytes, this function merges two 7-bit bytes back into one 8-bit byte.1064int ofArduino::getValueFromTwo7bitBytes(unsigned char lsb, unsigned char msb) {1065return (msb << 7) | lsb;1066}1067}1071/********************************************1073*1074*1075* Servo Functions1076*1077*1078********************************************/1079}1096}1125}1141/********************************************1143*1144*1145* Stepper Functions1146*1147*1148********************************************/1149}1183}1237}1276/********************************************1279*1280*1281* I2C Functions1282*1283*1284********************************************/1285}1295}1316}1336}1356}1377}1395}1412}1416// CONTINUOUS_READ1418/********************************************1420*1421*1422* One Wire Functions1423*1424*1425********************************************/1426//needs to notify event handler1452void ofArduino::sendOneWireSearch(char type, int pin) {1453if (!isPin(pin)) {1454return;1455}1456if (!pinCapabilities[pin].onewireSupported) {1457ofLogError("ofArduino") << "Onewire is not supported for pin " << pin;1458return;1459}1460sendByte(START_SYSEX);1461sendByte(ONEWIRE_DATA);1462sendByte(type);1463sendByte(pin);1464sendByte(END_SYSEX);1465}1466}1472}1491//// see http://firmata.org/wiki/Proposals#OneWire_Proposal1493void ofArduino::sendOneWireRequest(int pin, unsigned char subcommand, vector<unsigned char> devices, int numBytesToRead, unsigned char correlationId, unsigned int delay, vector<unsigned char> dataToWrite) {1494if (!isPin(pin)) {1495return;1496}1497if (!pinCapabilities[pin].onewireSupported) {1498ofLogError("ofArduino") << "Onewire is not supported for pin " << pin;1499return;1500}1501vector<unsigned char> bytes;1502bytes.resize(16);1503}1568/********************************************1570*1571*1572* Encoder Functions1573*1574*1575********************************************/1576}1604void ofArduino::getEncoderPosition(int encoderID) {1605if (encoderID <= _encoderID && encoderID >= 0) {1606sendByte(START_SYSEX);1607sendByte(ENCODER_DATA);1608sendByte(ENCODER_REPORT_POSITION);1609sendByte(encoderID);1610sendByte(END_SYSEX);1611}1612}1613void ofArduino::getAllEncoderPositions() {1614sendByte(START_SYSEX);1615sendByte(ENCODER_DATA);1616sendByte(ENCODER_REPORT_POSITIONS);1617sendByte(END_SYSEX);1618}1619void ofArduino::resetEncoderPosition(int encoderID) {1620if (encoderID <= _encoderID && encoderID >= 0) {1621sendByte(START_SYSEX);1622sendByte(ENCODER_DATA);1623sendByte(ENCODER_RESET_POSITION);1624sendByte(encoderID);1625sendByte(END_SYSEX);1626}1627}1628void ofArduino::enableEncoderReporting() {1629sendByte(START_SYSEX);1630sendByte(ENCODER_DATA);1631sendByte(ENCODER_REPORT_AUTO);1632sendByte(1);1633sendByte(END_SYSEX);1634}1635void ofArduino::disableEncoderReporting() {1636sendByte(START_SYSEX);1637sendByte(ENCODER_DATA);1638sendByte(ENCODER_REPORT_AUTO);1639sendByte(0);1640sendByte(END_SYSEX);1641}1642void ofArduino::detachEncoder(int encoderID) {1643if (encoderID <= _encoderID && encoderID >= 0) {1644sendByte(START_SYSEX);1645sendByte(ENCODER_DATA);1646sendByte(ENCODER_DETACH);1647sendByte(encoderID);1648sendByte(END_SYSEX);1649_encoderID--;1650}1651}1652//if the buffer gets out of sync we have to purge everything to get back on track1654void ofArduino::purge() {1655while (_port.readByte() != -1);1656for (int i = 0; i < 5; i++)1657sendByte(END_SYSEX);1658}1659/********************************************1661*1662*1663* Serial Functions1664*1665*1666********************************************/1667//this is mostly safe except for the teensy 2.0, it has 12 analog outs starting at 22 going down to 111752//the problem arises if they mean digital pin 11 or analog pin 11 which are not the same1753//digital pin 11 is analog pin 10 and analog pin 11 is digital pin 221754bool ofArduino::isAnalogPin(int pin) const1755{1756if (isPin(convertAnalogPinToDigital(pin))) {1757if (pin < _firstAnalogPin) // this probably means they are using the Analog pin #1758{1759if (analogPinMap.count(pin) < 1) { //the pin doesnt exist in the analog pin mapping1760ofLogError("ofArduino") << "Analog is not supported for pin " + ofToString(pin);1761return false;1762}1763return true;1764}1765else //they are using the digital pin #1766{1767if (pinCapabilities.count(pin) < 1) {1768ofLogError("ofArduino") << "Analog is not supported for pin " + ofToString(pin);1769return false;1770}1771return true;1772}1773}1774return false;1775}1776//this should only be false if the pin is negative or greater than the number of pins on the board1779//just incase we check against the pin capability map if for some reason a pin doesn't exist1780//pin 0 & 1 are outliers because they dont exist in the capability query but technically exist1781//we cant really use pin 0 & 1 though as it messes up the serial communication1782bool ofArduino::isPin(int pin) const1783{1784if (pin < 0 || pin > _totalDigitalPins) {1785ofLogError("ofArduino") << "Pin " + ofToString(pin) + " does not exist on the current board";1786return false;1787}1788if (pinCapabilities.count(pin) < 1) {1789ofLogError("ofArduino") << "Pin " + ofToString(pin) + " does not exist on the current board";1790return false;1791}1792return true;1793}1794//this returns the pin if its already not within the analog pin map1796//we need this to check between digital and analog pin mappings1797int ofArduino::convertAnalogPinToDigital(size_t pin) const1798{1799if (pin < analogPinMap.size()) {1800if (analogPinMap.count(pin) > 0) {1801return analogPinMap[pin];1802}1803else {1804ofLogError("ofArduino") << "Pin " + ofToString(pin) + " is not an Analog Pin";1805return -1;1806}1807}1808return pin;1809}1810//this returns the pin if its already within the analog pin map1812//we need this to check between digital and analog pin mappings1813int ofArduino::convertDigitalPinToAnalog(size_t pin) const1814{1815if (pin > analogPinMap.size()) {1816for (auto aPin : analogPinMap)1817if (aPin.second == (int)pin) {1818return aPin.first;1819}1820ofLogError("ofArduino") << "Pin " + ofToString(pin) + " is not an Analog Pin";1821return -1;1822}1823return pin; //this pin is already in the range of analog pins1824}1825//these functions can't really account for user error1827