bassislife
Üye
Merhabalar. Arduinoyu firmata aracılığı ile c#'dan kontrol etmek istiyordum. Bunun için yine bu forumdan yardım almıştım ve bu kontrolü sağlayabilmiştim. Şimdi fark ettimki bu konrolü arduino meganın 13. dijital pinine kadar yapabiliyorum. Yani örneğin 24. veya üzeri bir pine bir sensör bağladığımda veriyi okuyamıyorum. Bunu nasıl çözeceğim ile alakalı yardımcı olabilir misiniz?
Kullandığım firmata programını ve buna c#da karşılık gelen firmata kodlarını aşağıya ekliyorum. Şimdiden teşekkür ederim.
(ARDUINO STANDART FİRMATA)
(C# FİRMATA KODLARI)
Kullandığım firmata programını ve buna c#da karşılık gelen firmata kodlarını aşağıya ekliyorum. Şimdiden teşekkür ederim.
(ARDUINO STANDART FİRMATA)
Kod:
/*
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");
}
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
}(C# FİRMATA KODLARI)
Kod:
/************************************************************
* Copyright(C),2016-2017,LattePanda
* FileName: arduino.cs
* Author: Kevlin Sun
* Version: V0.8
* Date: 2016.7
* Description: LattePanda.Firmata is an open-source Firmata
library provided by LattePanda, which is suitable for
Windows apps developed in Visual Studio. this class allows
you to control the Arduino board from Windows apps:
reading and writing to the digital pins
reading the analog inputs
controlling servo
send and receive data to the I2C Bus
* 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.
* Special thanks to Tim Farley, on whose Firmata.NET library
this code is based.
*************************************************************/
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.IO.Ports;
using System.Diagnostics;
using System.Threading;
namespace LattePanda.Firmata
{
public delegate void DidI2CDataReveive(byte address,byte register, byte[] data);
public delegate void DigitalPinUpdated(byte pin, byte state);
public delegate void AnalogPinUpdated(int pin, int value);
class Arduino
{
public const byte LOW = 0;
public const byte HIGH = 1;
public const byte INPUT = 0;
public const byte OUTPUT = 1;
public const byte ANALOG = 2;
public const byte PWM = 3;
public const byte SERVO = 4;
public const int NONE = -1;
public const byte I2C_MODE_WRITE = 0x00;
public const byte I2C_MODE_READ_ONCE = 0x08;
public const byte I2C_MODE_READ_CONTINUOUSLY = 0x10;
public const byte I2C_MODE_STOP_READING = 0x18;
public event DidI2CDataReveive didI2CDataReveive;
public event DigitalPinUpdated digitalPinUpdated;
public event AnalogPinUpdated analogPinUpdated;
/// <summary>
///
/// </summary>
/// <param name="serialPortName">String specifying the name of the serial port. eg COM4</param>
/// <param name="baudRate">The baud rate of the communication. Default 57600</param>
/// <param name="autoStart">Determines whether the serial port should be opened automatically.
/// use the Open() method to open the connection manually.</param>
/// <param name="_delay">Time delay that may be required to allow some arduino models
/// to reboot after opening a serial connection. The delay will only activate
/// when autoStart is true.</param>
public Arduino(string serialPortName, Int32 baudRate, bool autoStart, int delay)
{
_serialPort = new SerialPort(serialPortName, baudRate);
_serialPort.DataBits = 8;
_serialPort.Parity = Parity.None;
_serialPort.StopBits = StopBits.One;
if (autoStart)
{
this._delay = delay;
this.Open();
}
}
/// <summary>
/// Creates an instance of the Arduino object, based on a user-specified serial port.
/// Assumes default values for baud rate (57600) and reboot delay (8 seconds)
/// and automatically opens the specified serial connection.
/// </summary>
/// <param name="serialPortName">String specifying the name of the serial port. eg COM4</param>
public Arduino(string serialPortName) : this(serialPortName, 57600, true, 8000) { }
/// <summary>
/// Creates an instance of the Arduino object, based on user-specified serial port and baud rate.
/// Assumes default value for reboot delay (8 seconds).
/// and automatically opens the specified serial connection.
/// </summary>
/// <param name="serialPortName">String specifying the name of the serial port. eg COM4</param>
/// <param name="baudRate">Baud rate.</param>
public Arduino(string serialPortName, Int32 baudRate) : this(serialPortName, baudRate, true, 8000) { }
/// <summary>
/// Creates an instance of the Arduino object using default arguments.
/// Assumes the arduino is connected as the HIGHEST serial port on the machine,
/// default baud rate (57600), and a reboot delay (8 seconds).
/// and automatically opens the specified serial connection.
/// </summary>
public Arduino() : this(Arduino.list().ElementAt(list().Length - 1), 57600, true, 8000) { }
/// <summary>
/// Opens the serial port connection, should it be required. By default the port is
/// opened when the object is first created.
/// </summary>
public void Open()
{
_serialPort.DtrEnable = true;
_serialPort.Open();
Thread.Sleep(_delay);
byte[] command = new byte[2];
for (int i = 0; i < 6; i++)
{
command[0] = (byte)(REPORT_ANALOG | i);
command[1] = (byte)1;
_serialPort.Write(command, 0, 2);
}
for (int i = 0; i < 2; i++)
{
command[0] = (byte)(REPORT_DIGITAL | i);
command[1] = (byte)1;
_serialPort.Write(command, 0, 2);
}
command = null;
if (_readThread == null)
{
_readThread = new Thread(processInput);
_readThread.Start();
}
}
/// <summary>
/// Closes the serial port.
/// </summary>
public void Close()
{
_readThread.Join(500);
_readThread = null;
_serialPort.Close();
}
/// <summary>
/// Lists all available serial ports on current system.
/// </summary>
/// <returns>An array of strings containing all available serial ports.</returns>
public static string[] list()
{
return SerialPort.GetPortNames();
}
/// <summary>
/// Sets the mode of the specified pin (INPUT or OUTPUT).
/// </summary>
/// <param name="pin">The arduino pin.</param>
/// <param name="mode">Mode Arduino.INPUT Arduino.OUTPUT Arduino.ANALOG Arduino.PWM or Arduino.SERVO .</param>
public void pinMode(int pin, byte mode)
{
byte[] message = new byte[3];
message[0] = (byte)(SET_PIN_MODE);
message[1] = (byte)(pin);
message[2] = (byte)(mode);
_serialPort.Write(message, 0, 3);
message = null;
}
/// <summary>
/// Returns the last known state of the digital pin.
/// </summary>
/// <param name="pin">The arduino digital input pin.</param>
/// <returns>Arduino.HIGH or Arduino.LOW</returns>
public int digitalRead(int pin)
{
return((_digitalInputData[pin >> 3] >> (pin & 0x07)) & 0x01);
}
/// <summary>
/// Returns the last known state of the analog pin.
/// </summary>
/// <param name="pin">The arduino analog input pin.</param>
/// <returns>A value representing the analog value between 0 (0V) and 1023 (5V).</returns>
public int analogRead(int pin)
{
return _analogInputData[pin];
}
/// <summary>
/// Write to a digital pin that has been toggled to output mode with pinMode() method.
/// </summary>
/// <param name="pin">The digital pin to write to.</param>
/// <param name="value">Value either Arduino.LOW or Arduino.HIGH.</param>
public void digitalWrite(int pin, byte value)
{
int portNumber = (pin >> 3) & 0x0F;
byte[] message = new byte[3];
if ((int)value == 0)
_digitalOutputData[portNumber] &= ~(1 << (pin & 0x07));
else
_digitalOutputData[portNumber] |= (1 << (pin & 0x07));
message[0] = (byte)(DIGITAL_MESSAGE | portNumber);
message[1] = (byte)(_digitalOutputData[portNumber] & 0x7F);
message[2] = (byte)(_digitalOutputData[portNumber] >> 7);
_serialPort.Write(message, 0, 3);
}
/// <summary>
/// Write to an analog pin using Pulse-width modulation (PWM).
/// </summary>
/// <param name="pin">Analog output pin.</param>
/// <param name="value">PWM frequency from 0 (always off) to 255 (always on).</param>
public void analogWrite(int pin, int value)
{
byte[] message = new byte[3];
message[0] = (byte)(ANALOG_MESSAGE | (pin & 0x0F));
message[1] = (byte)(value & 0x7F);
message[2] = (byte)(value >> 7);
_serialPort.Write(message, 0, 3);
}
/// <summary>
/// controlling servo
/// </summary>
/// <param name="pin">Servo output pin.</param>
/// <param name="angle">Servo angle from 0 to 180.</param>
public void servoWrite(int pin, int angle)
{
byte[] message = new byte[3];
message[0] = (byte)(ANALOG_MESSAGE | (pin & 0x0F));
message[1] = (byte)(angle & 0x7F);
message[2] = (byte)(angle >> 7);
_serialPort.Write(message, 0, 3);
}
/// <summary>
/// Init I2C Bus.
/// </summary>
/// <param name="angle">delay is necessary for some devices such as WiiNunchuck</param>
public void wireBegin(Int16 delay)
{
byte[] message = new byte[5];
message[0] = (byte)(0XF0);
message[1] = (byte)(I2C_CONFIG);
message[2] = (byte)(delay & 0x7F);
message[3] = (byte)(delay >> 7);
message[4] = (byte)(END_SYSEX);//END_SYSEX
_serialPort.Write(message, 0, 5);
}
/// <summary>
/// Write to a digital pin that has been toggled to output mode with pinMode() method.
/// </summary>
/// <param name="slaveAddress">I2C slave address,7 bit</param>
/// <param name="slaveRegister">value either I2C slave Register or Arduino.NONE</param>
/// <param name="data">Write data or length of read data.</param>
/// <param name="mode">Value either Arduino.I2C_MODE_WRITE or Arduino.I2C_MODE_READ_ONCE or Arduino.I2C_MODE_READ_ONCE or Arduino.I2C_MODE_STOP_READING</param>
public void wireRequest(byte slaveAddress,Int16 slaveRegister, Int16[] data,byte mode)
{
byte[] message = new byte[MAX_DATA_BYTES];
message[0] = (byte)(0xF0);
message[1] = (byte)(I2C_REQUEST);
message[2] = (byte)(slaveAddress);
message[3] = (byte)(mode);
int index = 4;
if(slaveRegister != Arduino.NONE)
{
message[index] = (byte)(slaveRegister & 0x7F);
index += 1;
message[index] = (byte)(slaveRegister >> 7);
index += 1;
}
for (int i = 0; i < (data.Count()); i++)
{
message[index] = (byte)(data[i] & 0x7F);
index += 1;
message[index] = (byte)(data[i] >> 7);
index += 1;
}
message[index] = (byte)(END_SYSEX);
_serialPort.Write(message, 0, index+1);
}
private int available()
{
return _serialPort.BytesToRead;
}
public void processInput()
{
while (_serialPort.IsOpen)
{
if (_serialPort.BytesToRead > 0)
{
lock (this)
{
int inputData = _serialPort.ReadByte();
int command;
if (_parsingSysex)
{
if (inputData == END_SYSEX)
{
_parsingSysex = false;
if(_sysexBytesRead>5 && _storedInputData[0] == I2C_REPLY)
{
byte[] i2cReceivedData = new byte[(_sysexBytesRead-1)/2];
for (int i = 0; i < i2cReceivedData.Count(); i++)
{
i2cReceivedData[i] = (byte)(_storedInputData[(i*2)+1] | _storedInputData[(i * 2) + 2] << 7);
}
if(this.didI2CDataReveive != null)
didI2CDataReveive(i2cReceivedData[0], i2cReceivedData[1], i2cReceivedData.Skip(2).ToArray());
}
_sysexBytesRead = 0;
}
else
{
_storedInputData[_sysexBytesRead] = inputData;
_sysexBytesRead++;
}
}
else if (_waitForData > 0 && inputData < 128)
{
_waitForData--;
_storedInputData[_waitForData] = inputData;
if (_executeMultiByteCommand != 0 && _waitForData == 0)
{
//we got everything
switch (_executeMultiByteCommand)
{
case DIGITAL_MESSAGE:
int currentDigitalInput = (_storedInputData[0] << 7) + _storedInputData[1];
for (int i = 0; i < 8; i++)
{
if (((1 << i) & (currentDigitalInput & 0xff)) != ((1 << i) & (_digitalInputData[_multiByteChannel] & 0xff)))
{
if ((((1 << i) & (currentDigitalInput & 0xff))) != 0)
{
if (this.digitalPinUpdated != null)
this.digitalPinUpdated((byte)(i + _multiByteChannel * 8), Arduino.HIGH);
}
else
{
if (this.digitalPinUpdated != null)
this.digitalPinUpdated((byte)(i + _multiByteChannel * 8), Arduino.LOW);
}
}
}
_digitalInputData[_multiByteChannel] = (_storedInputData[0] << 7) + _storedInputData[1];
break;
case ANALOG_MESSAGE:
_analogInputData[_multiByteChannel] = (_storedInputData[0] << 7) + _storedInputData[1];
if (this.analogPinUpdated != null)
analogPinUpdated(_multiByteChannel, (_storedInputData[0] << 7) + _storedInputData[1]);
break;
case REPORT_VERSION:
this._majorVersion = _storedInputData[1];
this._minorVersion = _storedInputData[0];
break;
}
}
}
else
{
if (inputData < 0xF0)
{
command = inputData & 0xF0;
_multiByteChannel = inputData & 0x0F;
switch (command)
{
case DIGITAL_MESSAGE:
case ANALOG_MESSAGE:
case REPORT_VERSION:
_waitForData = 2;
_executeMultiByteCommand = command;
break;
}
}
else if (inputData == 0xF0)
{
_parsingSysex = true;
// commands in the 0xF* range don't use channel data
}
}
}
}
}
}
#region
private const int MAX_DATA_BYTES = 64;
private const int TOTAL_PORTS = 2;
private const int SERVO_CONFIG = 0x70; // set max angle, minPulse, maxPulse, freq
private const int DIGITAL_MESSAGE = 0x90; // send data for a digital port
private const int ANALOG_MESSAGE = 0xE0; // send data for an analog pin (or PWM)
private const int REPORT_ANALOG = 0xC0; // enable analog input by pin #
private const int REPORT_DIGITAL = 0xD0; // enable digital input by port
private const int SET_PIN_MODE = 0xF4; // set a pin to INPUT/OUTPUT/PWM/etc
private const int REPORT_VERSION = 0xF9; // report firmware version
private const int SYSTEM_RESET = 0xFF; // reset from MIDI
private const int START_SYSEX = 0xF0; // start a MIDI SysEx message
private const int END_SYSEX = 0xF7; // end a MIDI SysEx message
private const int I2C_REQUEST = 0x76; // I2C request messages from a host to an I/O board
private const int I2C_REPLY = 0x77; // I2C reply messages from an I/O board to a host
private const int I2C_CONFIG = 0x78; // Configure special I2C settings such as power pins and delay times
private SerialPort _serialPort;
private int _delay;
private int _waitForData = 0;
private int _executeMultiByteCommand = 0;
private int _multiByteChannel = 0;
private int[] _storedInputData = new int[MAX_DATA_BYTES];
private bool _parsingSysex;
private int _sysexBytesRead;
private volatile int[] _digitalOutputData = new int[MAX_DATA_BYTES];
private volatile int[] _digitalInputData = new int[MAX_DATA_BYTES];
private volatile int[] _analogInputData = new int[MAX_DATA_BYTES];
private int _majorVersion = 0;
private int _minorVersion = 0;
private Thread _readThread = null;
private object _locker = new object();
#endregion
} // End Arduino class
} // End namespace
